CN101271157B - Method for detecting interference in radar system and radar using the same - Google Patents

Method for detecting interference in radar system and radar using the same Download PDF

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CN101271157B
CN101271157B CN 200810085181 CN200810085181A CN101271157B CN 101271157 B CN101271157 B CN 101271157B CN 200810085181 CN200810085181 CN 200810085181 CN 200810085181 A CN200810085181 A CN 200810085181A CN 101271157 B CN101271157 B CN 101271157B
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radar
frequency
signal
beat signal
beat
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CN101271157A (en
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坂本麻衣
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株式会社电装
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/08Systems for measuring distance only
    • G01S13/32Systems for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves
    • G01S13/34Systems for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves using transmission of frequency-modulated waves and the received signal, or a signal derived therefrom, being heterodyned with a locally-generated signal related to the contemporaneous transmitted signal to give a beat-frequency signal
    • G01S13/345Systems for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves using transmission of frequency-modulated waves and the received signal, or a signal derived therefrom, being heterodyned with a locally-generated signal related to the contemporaneous transmitted signal to give a beat-frequency signal using triangular modulation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35Details of non-pulse systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9321Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles for velocity regulation, e.g. cruise control
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles
    • G01S2013/9325Radar or analogous systems specially adapted for specific applications for anti-collision purposes between land vehicles; between land vehicles and fixed obstacles for intervehicle distance regulation, e.g. navigating in platoons

Abstract

A method for detecting an occurrence of interference between a return of a radar wave which has been transmitted by a radar and has an oscillating amplitude in time and a radio wave transmitted by some other radar, Includes steps of: detecting extremal points of an incident radio wave in which the radio wave transmitted by the other radar is superposed on the return of the radar wave, extracting,sequentially in time, an emerging pattern of the extremal points of the incident radio wave within each of periods of time to obtain a series of emerging patterns of the extremal points, detecting a period during which the emerging pattern of the extremal points is irregular among the series of the emerging patterns of the extremal points, and determining that the interference occurs during the detected period of time.

Description

雷达系统中检测干扰的方法和使用该方法的雷达 Radar systems detect interference and radar using the method

技术领域 FIELD

[0001] 本发明涉及一种针对雷达的用于检测该雷达和其它雷达之间的干扰的方法。 [0001] The present invention relates to a method of detecting interference between the radar and other radar used for radar. 本发明还涉及一种频率调制连续波(FMCW, frequencymodulated continuous wave)雷达的干扰检测装置,以及装配有干扰检测装置的、使用用于检测该雷达和其它雷达之间的干扰的方法的FMCW雷达。 The present invention also relates to a frequency modulated continuous wave (FMCW, frequencymodulated continuous wave) radar interference detecting means, and fitted with interference detection apparatus using FMCW radar method for detecting interference between the radar and other radar. 背景技术 Background technique

[0002] 已知许多适合车辆安全系统的汽车雷达系统,例如,使事故影响最小的碰撞保护系统、警告驾驶员车辆将要倒车撞到例如儿童或其它车辆等物体的倒车警告系统等。 [0002] Many known for vehicle safety systems automotive radar systems, for example, the impact of the accident minimal impact protection system to warn the driver of the vehicle to reverse hit an object such as reversing warning system for children or other vehicles and so on. 因此,向驾驶员提供一些关于目标物的性质或位置的信息对这些汽车雷达系统来说很重要。 Therefore, to provide some information about the object or the nature of the position of the driver is very important to these automotive radar systems. 非常重要的一个目标特征是雷达到目标物的距离(发射方向距离)。 A very important feature of the radar to a target object distance (distance emission direction). 特别地,如果有多个目标物,则对驾驶员来说到那些目标物的距离是重要的信息。 In particular, if there are multiple targets, then the distance for the driver who is the object of important information. 因此,显然,需要提供针对多个目标物的准确发射方向信息的雷达。 So, obviously, the need to provide accurate radar emission direction information for multiple target.

[0003] 最简单的汽车雷达系统使用发射器以单一频率连续发射电磁能的连续波(CW,continuous wave)雷达。 [0003] The simplest automotive radar system using a transmitter at a single frequency continuous wave electromagnetic energy is a continuous (CW, continuous wave) radar transmitter. 所发射的电磁能被目标物反射并由雷达接收器接收。 The emitted electromagnetic energy reflected by the target object receiving radar receiver. 由于目标物相对于雷达移动产生的多普勒效应,所接收的信号发生频移。 Since the target relative to the Doppler effect produced by movement of the radar, the received signal a frequency shift. CW接收器过滤出任何没有多普勒频移的回波,即,没有相对于雷达运动的目标。 The receiver filter out any CW Doppler shift of the echo is not, i.e., no movement of the target relative to the radar. 当接收器检测出存在多普勒频移信号时,接收器发送含有关于目标物存在的信息的通知。 When the receiver detects the presence of Doppler shift signal, the receiver transmits the notification information containing the object about the presence.

[0004] 另一种雷达是双频CW雷达。 [0004] Another radar is a dual-frequency CW radar. 双频CW雷达发射具有第一频率和第二频率的电磁能。 Frequency CW radar transmitting electromagnetic energy having a first frequency and a second frequency. 所发射的能量被目标物反射并由双频接收器接收。 Transmitted energy reflected by the object is received dual frequency receivers. 接收器测量在第一频率接收的信号的相位和在第二频率接收的信号的相位之间的差。 The first receiver measures the phase and frequency of the reception signal of the second frequency difference between the phase of the received signal. 可以根据所测量的相位差计算出到目标物的距离。 We can calculate the distance to the target object based on the measured phase difference. 不幸的是,当在不同范围存在多个目标物时,双频CW雷达的表现较差,因此,在存在多个目标物时从双频CW雷达获得的范围测量不可靠。 Unfortunately, when a plurality of targets present in a different range, the poor performance of dual-frequency CW radar, and therefore, when a plurality of range measurements obtained from a target frequency CW radar unreliable.

[0005] 已知有这样的FMCW雷达,其被用作车载雷达,来检测目标物或障碍的存在、到前车的距离、以及前车相对于装配有FMCW雷达的车辆的相对速度。 [0005] Such known FMCW radar, which is used as vehicle radar to detect the presence of the target disorder or, distance to the preceding vehicle, the preceding vehicle and the relative velocity with respect to the vehicle equipped with the FMCW radar.

[0006] 为了检测例如前车的存在、到前车的发射方向距离以及前车的相对速度的目标特征,FMCW雷达通过有向天线单元发射雷达波。 [0006] To detect the presence of the preceding vehicle, for example, the emission direction of the distance to the target feature and the relative speed of the preceding vehicle to the preceding vehicle, by the FMCW radar unit transmits radar waves with a directional antenna. 调制雷达波的频率使其随时间线性改变。 Linear frequency modulated radar wave so as to change with time. 在目标物反射雷达波之后,所反射的雷达波被雷达接收并转换为接收信号以进行用于获得目标特征的信号处理。 After the object reflected radar wave, the reflected radar wave is received and converted into received signals for signal processing for obtaining radar target feature. FMCW雷达将发射信号和接收信号混合,以生成差拍信号(beat signal)。 FMCW radar transmit signal and the received signals are mixed to generate a beat signal (beat signal). 对差拍信号进行频率分析,例如快速傅立叶变换(FFT, fast Fouriertransformation)等,以获得差拍信号的峰值频率(拍频),根据该峰值频率可以确定到目标物的距离以及FMCW雷达和目标物之间的相对速度。 Beat signal frequency analysis such as Fast Fourier Transform (FFT, fast Fouriertransformation) and the like, to obtain a peak frequency of the beat signal (beat frequency), based on the peak frequency may determine the distance and FMCW radar and the target object's the relative velocity between. 在强度对频率特征曲线中,频谱具有峰值强度。 The intensity of the frequency characteristic curve, the spectrum has a peak intensity. 拍频具有峰值强度。 Beat frequency having a peak intensity.

[0007] 在那些操作期间,存在这样的可能性:FMCW雷达不仅接收来自目标物的反射波,而且还接收从安装在另一个车辆中的其它雷达发射的雷达波,另一个车辆例如是在马路的同侧或另一侧行驶的车辆(例如,前车或迎面而来的车)。 [0007] During those operations, there is a possibility: FMCW radar receives not only the reflected wave from the target object, but also receives the radar wave transmitted from the other radar installed in another vehicle, other road vehicles, for example, in on the same or the other side of the vehicles (e.g., preceding vehicle or oncoming vehicle). 即,可能发生对象车辆装配的FMCW雷达和其它车辆中安装的其它雷达之间的干扰。 That is, the interference between the subject vehicle assembly may occur other FMCW radar and other radar installed in a vehicle. 干扰的结果是,难以准确地检测拍频,且不能准确地检测出到例如前车的目标物的距离和目标物的相对速度。 The results of interference is difficult to accurately detect the beat frequency, and can not accurately detect the relative speed of the target object and the distance from the object, for example, the preceding vehicle.

[0008] 在日本公开专利申请No. 2002-168947中,Hirata等人公开了一种设置有确定FMCff雷达是否被其它雷达干扰的干扰检测单元的FMCW雷达。 [0008] In Japanese Patent Application Publication No. 2002-168947 in, Hirata et al., Discloses a method is provided to determine whether the radar FMCW radar FMCff interference detection means other radar interference. Hirata等人的干扰检测单元基于由FMCW雷达接收的入射无线电波、或根据从FMCW雷达发射的雷达波和由FMCW雷达接收的入射雷达波生成的差拍信号,确定是否发生装配有干扰检测单元的FMCW雷达和其它雷达之间的干扰。 Hirata et al interference detection unit based on incident radio wave received by the FMCW radar, radar or according to the FMCW radar and emitted from the incident radar waves received by the FMCW radar generated beat signal, to determine whether there has assembled the interference detection unit interference between the FMCW radar and other radar. 入射无线电波不仅可以包括从目标物发射的雷达波的回波,还可以包括从其它雷达发射的雷达波或从位于FMCW雷达的测量距离范围(雷达范围)之外的障碍返回的雷达波的回波。 Incident radio waves may include not only radar echoes emitted from the object, may further include a radar wave transmitted from the other radar or radar return from obstacle located outside the FMCW radar measurement distance range (the range of the radar) of the back wave. 更详细地,如果入射无线电波或差拍信号的振幅大于预定振幅阈值,或如果作为可以在差拍信号的频谱特征中找到强度峰的频率分量的拍频大于预定频率阈值,则Hirata等人的干扰检测单元确定干扰发生。 In more detail, if the amplitude of the incident radio wave or the beat signal is greater than a predetermined amplitude threshold value, or if the frequency intensity peaks can be found in the frequency spectrum characteristic of the beat signal component of the beat frequency is greater than a predetermined frequency threshold value, Hirata et al. interference detecting unit determines that interference occurs.

[0009] 由Hirata等人采用的、基于入射无线电波或差拍信号的振幅与预定振幅阈值的比较执行的方法来源于下面思路:当发生FMCW雷达和其它雷达之间的干扰时,从其它雷达发射的无线电波被叠加在从目标物反射的无线电波的回波上。 [0009] Hirata et al employed a process of performing a comparison or amplitude of an incident radio wave of the beat signal amplitude with a predetermined threshold value derived based on the following idea: When the interference between the FMCW radar and other radar occurs, from other radar radio wave transmitted is superimposed on the radio wave echoes reflected from the target object. 因此,进入FMCW雷达的入射无线电波或通过混合从FMCW雷达发射的无线电波和入射无线电波生成的差拍信号的振幅与没有发生干扰的情况相比应该增大。 Thus, the amplitude of an incident into the FMCW radar or radio wave transmitted from the FMCW radar by mixing the incident radio waves and the radio waves generated beat signal interference does not occur compared with the case should be increased.

[0010] 由Hirata等人采用的、基于拍频分量与预定频率阈值的比较执行的方法来源于下面思路:当作为可以在差拍信号的频谱特征中找到强度峰的频率分量的拍频高于预定频率阈值时,拍频分量的源可以被归为位于FMCW雷达的测量距离范围(雷达范围)之外的某个障碍。 [0010] Hirata et al., By the use of ideas from the following method of performing a comparison of the beat frequency component and the predetermined threshold value based on: When the beat frequency component may be a higher frequency intensity peaks found in the spectrum characteristic of the beat signal predetermined frequency threshold value, the source beat frequency component may be classified as an obstacle located outside the measurement distance range of the FMCW radar (radar range).

[0011] 然而,在从其它雷达发射的无线电波的振幅较低的情况下,Hirata等人的方法可能给出关于干扰存在的错误确定。 [0011] However, in the case of low amplitude radio waves emitted from the other radar, the method of Hirata et al may give an erroneous determination on the presence of interference. 即,当入射无线电波或差拍信号的绝对振幅不高于阈值时,Hirata等人的干扰检测单元不能检测干扰的发生。 That is, when the incident radio waves or absolute amplitude of the beat signal is not above the threshold, Hirata et al., The interference detection means does not detect the occurrence of interference. 此外,如果由于一些原因,例如从FMCW雷达辐射雷达波的发射天线和用来接收入射无线电波的接收天线之间的短距离等,低频噪声被叠加在入射雷达波或差拍信号上,则入射雷达波或差拍信号的绝对振幅可能超过阈值,即使不存在干扰。 Also, if for some reason, for example, from a short distance between the radar FMCW radar radiation transmitting and receiving antennas for receiving incident radio waves and the like, the low-frequency noise is superimposed on the beat signal or incident radar, the incident radar or absolute amplitude of the beat signal may exceed the threshold value, even in the absence of interference.

[0012] 在日本公开专利申请No. 2006-300550号和对应的美国专利申请No. 7187321中,Watanabe等人公开了具有提高的准确度、用于使用由FMCW雷达接收的入射无线电波或根据从FMCW雷达发射的雷达波和由FMCW雷达接收的入射无线电波生成的差拍信号的绝对振幅的变化来检测干扰的发生的FMCW雷达。 [0012] In Japanese Patent Application Publication No. No. 2006-300550 and corresponding U.S. Patent Application, Watanabe et al., No. 7,187,321 discloses the accuracy with improved, using incident radio wave received by the FMCW radar or according to the absolute change in the amplitude of the beat signal and the transmitted radar wave FMCW radar incident radio wave received by the FMCW radar to detect the generated interference occurs FMCW radar. 在Watanabe等人的FMCW雷达中,按预定间隔对入射波或差拍信号进行采样,以生成振幅数据。 Watanabe et al., In FMCW radar, the incident or at predetermined intervals of the beat signal is sampled to produce amplitude data. 通过比较在相邻采样点的两个采样绝对振幅值来计算入射无线电波或差拍信号的绝对振幅的变化。 Calculating the change or the absolute amplitude of the incident radio wave of the beat signal by comparing the absolute amplitude value of two adjacent sampling points of the sample. 如果变化的最大振幅超过预定值,则确定发生干扰。 If the change of the maximum amplitude exceeds the predetermined value, it is determined that interference occurs. 如果采样入射波或差拍信号的预定间隔变短,则即使从其它雷达发射的无线电波的振幅较低,也可以检测干扰的发生。 If the sample or incident the beat signal becomes a predetermined short interval, even if the lower amplitude of radio waves emitted from the other radar, may detect the occurrence of interference. 然而,不建议缩短预定间隔,因为这在一些情况下导致计算量的增加,例如,在车载FMCW雷达不容易进行大规模计算的情况下。 However, it is not recommended to shorten the predetermined intervals, as this leads to an increase of the amount calculated in some cases, for example, in-vehicle FMCW radar is not easy in the case of large-scale computing.

[0013] 此外,如前关于Hirata等人的方法所讨论的,如果低频噪声被叠加在入射雷达波或差拍信号上,则入射无线电波或差拍信号的振幅变化可能超过阈值,即使不存在干扰。 [0013] In addition, as previously on Hirata et al. Discussed above, if the low-frequency noise is superimposed on the incident radar or the beat signal, the incident radio waves or beat change in amplitude of the signal may exceed the threshold value, even in the absence interference.

[0014] 此外,如果将Watanabe等人的方法与用于检测目标物的方向的方法相结合,则对雷达和其它雷达之间的发生干扰的检测是很重要的,因为某时刻对干扰发生的错误检测影响之后长时间内的目标物方向检测的准确度;所述检测目标物的方向的方法例如多信号分类(MUSIC,multiplesignal classification)方法,其中,由多个接收天线接收进入雷达的入射无线电波以生成多个数据信号,每一个数据信号由被对应的一个接收天线接收到的入射无线电波生成,且根据多个数据信号的历史数据构成可以用于计算目标物方向的自相关矩阵。 [0014] Further, if the method of Watanabe et al., Combined with a method for detecting the direction of the target object, the detection of the occurrence of interference between radar and other radar is very important, because the interference occurs at a certain time accuracy in the long direction of the object detected by the error detection after impact; direction of the object detecting method, for example, a multiple signal classification (MUSIC, multiplesignal classification) method, wherein a plurality of receiving antennas are received by the radar to enter the incident radio wave to generate a plurality of data signals, each data signal received by a receiving antenna corresponding to the incident radio wave generator, and configured for calculating the autocorrelation matrix may target direction based on historical data of the plurality of data signals.

[0015] 因此,需要这样的雷达:即使在雷达测量距离范围之外存在例如卡车和货车的一些大或长的障碍或例如高速公路桥和其桥墩的大且长的建筑物,且即使在雷达的测量距离范围内存在多个目标物,也能够减少可靠地检测雷达和其它雷达之间的干扰的发生的计算成本,并准确测量各目标特征,例如,雷达系统测量范围内的目标物的存在、雷达系统和目标物之间的距离、以及目标物相对于雷达系统的相对速度。 [0015] Therefore, a need exists radar: for example, even if there are some large or long obstacles such as trucks and vans or large highway bridge and its piers outside the building and long range radar to measure distances, and even in the radar measuring the distance range exists in memory a plurality of targets, it is possible to reduce the computational cost of reliably detecting the occurrence of interference between radar and other radar, and accurately measured for each target feature, e.g., within the target range of the radar measuring system , the distance between the radar system and the object, and the target relative speed of the radar system.

发明内容 SUMMARY

[0016] 做出本发明以解决上述问题,因此本发明的目的是提供一种FMCW雷达,尤其是车载FMCW雷达,以及一种用于基于差拍信号的极值点的周期性来准确地检测由雷达发射出的且具有随时间振荡的振幅的雷达波的回波和由其它雷达发射的无线电波之间的干扰的发生的方法。 [0016] The present invention is made to solve the above problems, therefore an object of the present invention is to provide an FMCW radar, the vehicle-mounted FMCW radar in particular, on a periodic basis and a method for extrema beat signal to accurately detect the method and the occurrence of interference between the echo and the radio wave transmitted from the other radar oscillations having an amplitude over time of the radar wave emitted by the radar.

[0017] 该根据本实施例的用于检测FMCW雷达2和其它雷达之间的干扰的发生的方法包括以下步骤:计算接收信号或差拍信号的振幅差VD的随时间改变,识别差拍信号B的时间相关振幅曲线中的极值点,对每个子时段内的极值点的数目计数,判断每个子时段内的每个极值点数目是否正常,并基于判断每个子时段内的每个极值点数目是否正常的结果来确定FMCW雷达2和其它雷达之间发生干扰的子时段。 [0017] The method comprises the steps of the occurrence of interference between the radar and the other for detecting the FMCW radar of the present embodiment: calculating a received signal amplitude difference or beat signal VD changes with time, the beat signal identification time-dependent amplitude extreme point in the curve B, counts the number of extreme points within each sub-period, the number of each of the extreme point is determined within each sub-period is normal, and based on the determination for each sub-period within each the number of extreme points of the results to determine whether the normal sub-period interference between the FMCW radar 2 and the other radar.

[0018] S卩,在根据本发明的方法中,只利用差拍信号B的时间相关振幅曲线中极值点的数目来确定FMCW雷达2和其它雷达之间发生干扰。 [0018] S Jie, in determining an interference occurs between the radar FMCW radar 2 and other methods according to the present invention, the number of time using only the beat signal B related to the amplitude curve extreme points. 该方法利用这样的事实:通常,从其它雷达发射的且被叠加在雷达波的回波上的噪声信号只具有与雷达波有较大不同的谐波分量,或非周期分量。 This method utilizes the fact that: In general, emitted from other radar and superimposed on the radar echo signals having only a noise radar are quite different harmonic components, or a non-periodic component. 因此,即使噪声信号的水平低,也可以检测干扰的发生。 Thus, even with a low level of noise signal, it can be detected interference. 这意味着执行该方法只需要小量的运算量。 This means that the implementation of this method requires only a small amount of computation.

[0019] 根据本发明的第一方面,提供了一种用于检测由雷达发射且具有随时间振荡的振幅的雷达波的回波和由其它雷达发射的无线电波之间的干扰的发生的方法。 [0019] According to a first aspect of the present invention, there is provided a method of occurrence of interference emitted by the radar range radar echo amplitude between the oscillations and time radio wave transmitted from the other radar for detecting .

[0020] 根据本发明该方面的方法包括步骤:检测入射无线电波的极值点,在时间上顺序地提取极值点的出现模式,检测极值点出现模式不规律的周期,和确定是否发生干扰。 [0020] According to this aspect of the method of the present invention comprises the steps of: detecting a radio wave incident extreme points in time sequentially extracting extreme point occurrence pattern, an irregular pattern detection period extreme points appear, and determine whether there interference.

[0021 ] 在检测入射无线电波的极值点的步骤中,检测所述其它雷达发射的无线电波被叠加在所述雷达波的回波上的入射无线电波的极值点,每一个极值点是出现入射无线电波的振幅的最大值或最小值的时刻。 [0021] In the step of detecting the extreme point of the incident radio waves, the detection of the other radio wave radar transmitter is superimposed on the radar echo of the incident radio waves extreme points, each extreme point time is the maximum or minimum amplitude of the incident radio waves occur.

[0022] 在时间上顺序地提取极值点的出现模式的步骤中,提取每个时段内入射无线电波的极值点的出现模式,以获得一系列极值点出现模式。 [0022] Step mode occurs sequentially extracting extreme point in time, the occurrence pattern extracting extreme point in each period of incident radio waves, to obtain a series extreme points appear mode.

[0023] 在检测极值点出现模式不规律的周期的步骤中,在系列极值点出现模式中检测极值点出现模式不规律的周期。 Step [0023] periodic irregular pattern appearing in the detection extreme points, the extreme points appear period detecting irregular patterns in the series of patterns appearing extreme point.

[0024] 在确定是否发生干扰的步骤中,确定是否检测到在所检测的周期内发生的干扰。 [0024] In the step of determining whether the interference occurs, it is determined whether the detected interference occurs in the detected cycle.

[0025] 根据本发明的第二方面,提供一种用于检测由雷达发射且具有随时间振荡的振幅的雷达波的回波和由其它雷达发射的无线电波之间的干扰的发生的方法。 [0025] According to a second aspect of the present invention, there is provided a method of detecting interference between radar range emitted by oscillation amplitude with time of the radar echo and radio waves emitted from the radar to the other occurs.

[0026] 根据本发明这个方面的方法包含步骤:检测入射无线电波的极值点,在时间上顺序地对极值点的数目进行计数,对极值点的计数数目求平均值,和确定是否发生干扰。 [0026] According to this aspect of the present invention, the method comprises the steps of: detecting a radio wave incident extreme points, sequentially in time the number of extrema counting the number of extreme points of the averaging count, and determines whether the interference occurs.

[0027] 在时间上顺序地对极值点的数目进行计数的步骤中,对预定计数周期中入射无线电波的极值点的数目进行计数,以确定每个计数周期内入射无线电波的每个极值点计数数目。 [0027] sequentially in time step of counting the number of extreme points, the number of extrema counting a predetermined count cycle of the incident radio waves to determine whether each count cycle each incident radio waves counting the number of extreme points.

[0028] 在确定平均值的步骤中,对入射无线电波的极值点的计数数目求平均值,以确定每计数周期极值点的平均数目。 [0028] In the step of determining the average, the number of extreme points of the incident radio wave count averaged to determine the mean number of counts per cycle of extreme point.

[0029] 在确定是否发生干扰的步骤中,根据极值点的平均数目与计数周期之一内入射无线电波的极值点的计数数目之一之间的差来确定在预定周期之一内是否发生干扰。 [0029] In the step of determining whether the interference occurs, the difference between the number of counts one extreme point within one of the extreme point with the average number of incident radio waves count period to determine whether a predetermined period within one of interference occurs.

[0030] 此外,允许根据本发明一个方面的方法还包含通过分别混合由雷达接收到的入射无线电波与从所述雷达发射的向上调制段和向下调制段的无线电波,生成第一差拍信号和第二差拍信号的步骤。 [0030] Further, according to the method allows a further aspect of the present invention comprises by separately mixing the received radio wave by the radar incident radio wave modulated section and the downward direction of the emitted modulated section from the radar to generate a first beat step beat signal and the second difference signal.

[0031] 在这种情况下,优选地,雷达是发射频率随时间改变的频率调制雷达波的频率调制连续波(FMCW)雷达,所述雷达波具有雷达波频率随时间增加的向上调制段,以及雷达波频率随时间减小的向下调制段,并且所述第一和第二差拍信号中的至少一个被用来计算差拍信号的频率分量的强度直方图。 [0031] In this case, preferably, a frequency modulated radar wave radar transmit frequency changes over time modulated continuous wave (the FMCW) radar, said radar having a radar frequencies upward modulated section increases over time, and the downward modulated section decreases with time the frequency of the radar wave, and the first and second beat signals at least one difference is used to calculate the intensity of the beat signal frequency component histogram.

[0032] 根据本发明的第三方面,提供一种频率调制连续波(FMCW)雷达,其检测包括所述雷达的测量范围内的目标物的存在、所述目标物和所述雷达之间的距离、以及所述目标物相对于所述雷达的相对速度中的至少一个的目标物特征。 [0032] According to a third aspect of the present invention, there is provided a frequency modulated continuous wave (the FMCW) radar, the target object is present between the detecting comprises measuring range of the radar, the target and the radar distance, and the object relative to the at least one characteristic of the target object relative velocity of the radar.

[0033] 根据本发明该方面的FMCW雷达包括:发射信号生成器、发射天线、接收天线单元、差拍信号生成器、极值点检测器、计数器、平均值计算器,确定单元、频率分析器、峰值频率检测器、以及目标物特征计算器。 [0033] According to this aspect of the invention, the FMCW radar comprising: a transmitter signal generator, the transmitting antenna, the receiving antenna unit, a beat signal generator extreme point detector, the counter, the average calculator, the determination unit, a frequency analyzer peak frequency detector, and a target object characteristic calculator.

[0034] 发射信号生成器生成发射信号,该发射信号的频率被调制成具有所述发射信号的频率随时间增加的向上调制段和所述发射信号的频率随时间减小的向下调制段。 [0034] The transmission signal generator generates a transmission signal, the frequency of the transmission signal is modulated to a frequency of the modulated section having a downward transmission signal increases with time up section and the frequency modulation of the transmitted signal decreases with time.

[0035] 发射天线沿所述测量范围的方向发射作为雷达波的所述发射信号,所述测量范围被限制为其最远距离对应于最大测量频率。 [0035] The transmitting antenna along the direction of the measurement range of the radar waves transmitted as a transmission signal, the measuring range is limited to its maximum distance corresponding to the maximum measurement frequency.

[0036] 接收天线单元接收包括来自位于所述雷达的测量范围内的所述目标物的所述雷达波的回波的入射无线电波,以基于所述入射无线电波生成接收信号。 [0036] The receiving antenna unit includes a receiving incident radio waves of the radar echo from the target object located within the measuring range of the radar to generate the received signal based on the incident radio waves.

[0037] 差拍信号生成器基于所述发射信号和所述接收信号二者,分别生成针对所述向上调制段和所述向下调制段中的每一个的第一和第二差拍信号。 [0037] The beat signal generated based on the transmitting signal and said receiving both signals, respectively generating first and second beat signal for each of a difference in the modulation section and the downward direction of the modulated section.

[0038] 极值点检测器检测所述其它雷达发射的无线电波被叠加在所述雷达波的回波上的入射无线电波的极值点,每一个极值点是出现第一或第二差拍信号的振幅的最大值或最小值的时刻。 [0038] The extreme points of the radio wave of the other detector detects the transmitted radar incident extreme points is superimposed on the radio wave radar echoes, each extremum point is the occurrence of the first or second difference Sign time maximum or minimum amplitude of the signal.

[0039] 计数器对预定计数周期中入射无线电波的极值点的数目进行计数,以确定每个计数周期内入射无线电波的每个极值点计数数目。 [0039] The counter counts a predetermined number of extrema count period of incident radio waves to determine the number of each of the extreme points per cycle count incident radio wave.

[0040] 平均值计算器对入射无线电波的极值点的计数数目求平均值,以确定每计数周期极值点的平均数目。 [0040] The number average calculator extreme point of the incident radio wave count averaged to determine the mean number of counts per cycle of extreme point.

[0041] 确定单元根据极值点的平均数目与计数周期之一内入射无线电波的极值点的计、数数目之一之间的差来确定在预定周期之一内是否发生干扰。 [0041] The determination unit determines whether interference occurs within a predetermined period according to a difference between one of the extreme points of the average number in one of the extreme points of the incident radio wave count period basis, the number of number one.

[0042] 频率分析器对所述第一和第二差拍信号进行频率分析,以分别获得针对所述向上调制段和所述向下调制段示出差拍信号在频域中的强度分布的第一和第二频谱特征。 [0042] The frequency analyzer of the first and second beat signal frequency analysis to obtain a first modulated section for the upward and downward travel modulated section illustrating the intensity distribution of the beat signal in the frequency domain, respectively, and a second spectral characteristics.

[0043] 峰值频率检测器在所述第一和第二峰值频率位于所述最大测量频率以下的情况下,分别检测在所述第一和第二频谱特征中具有相应最高强度的第一和第二峰值频率。 The first and second [0043] frequency of the peak detector in the first case and positioned below the second maximum measurement frequency peak frequency were detected with the highest intensity in the respective first and second spectral features two peak frequency.

[0044]目标物特征计算器基于第一和第二峰值频率计算目标物特征。 Wherein the target [0044] wherein the calculator calculates the target object based on the first and second peak frequencies.

[0045] 此外,根据本发明该方面的FMCW雷达还包括计算器。 [0045] Further, according to this aspect of the present invention FMCW radar further comprises a calculator. [0046] 此外,允许所述极值点检测器包括采样单元,差计算器,以及检测器。 [0046] In addition, to allow the extreme point detector includes a sampling unit, a difference calculator, and a detector.

[0047] 采样单元在采样时间按时间顺序对所述第一和第二差拍信号的振幅进行采样,以分别生成所述第一和第二差拍信号的振幅的改变。 [0047] The sampling unit sampling time for sampling the amplitude of said first and second beat signals in chronological order, to generate the first and second beat changing amplitude of the signal, respectively.

[0048] 差计算器计算相继采样时间之间所述第一和第二差拍信号的振幅的改变的差,以分别生成所述第一和第二差拍信号的振幅的差的改变。 [0048] The difference calculator calculates the difference between successive samples of the first and changed beat signal amplitude difference between the second time to generate a first difference and changes the beat amplitude of the second difference signal, respectively.

[0049] 检测器检测所述第一和第二差拍信号的振幅的差的符号相对前一米样时间的振幅的差的符号发生翻转的采样时间之一,以作为极值点之一。 [0049] The sign of the difference detector detects an amplitude of said first and second beat signal opposite sign of the difference amplitude one meter before the injection time of one sampling time rollover occurs, as one extreme point.

附图说明 BRIEF DESCRIPTION

[0050] 通过下面给出的本发明的优选实施例的详细说明和附图会更加全面地理解本发明,这些说明和附图并未将本发明限于具体实施例,而是应当看作单纯出于说明和理解的目的。 [0050] will be more fully understood from the detailed description and drawings of the present invention by the preferred embodiments of the present invention are given below, the description and drawings of the present invention is not limited to the specific embodiments, but rather should be seen as a simple for the purpose of explanation and understanding.

[0051] 在附图中: [0051] In the drawings:

[0052] 图I是示出根据本发明的FMCW雷达的框图; [0052] Figure I is a block diagram showing an FMCW radar of the present invention;

[0053] 图2A是示出向上调制段和向下调制段内的从FMCW雷达发射的雷达波随时间频率改变以及来自目标物的反射雷达波的随时间频率改变的说明性曲线图; [0053] FIG. 2A is a diagram illustrating a modulation section and the radar wave emitted upwardly from the downwardly FMCW radar modulation-frequency changes over time, and the reflected radar wave from a target object of an illustrative time graph showing the frequency change;

[0054] 图2B是示出通过混合从FMCW雷达发射的雷达波和来自目标物的反射雷达波生成的差拍信号的电压振幅的时间相关性的说明性曲线图; [0054] FIG. 2B is a diagram illustrating time dependence of the voltage amplitude explanatory graph of a radar wave transmitted from the FMCW radar by mixing the reflected radar wave from the target object and the generated beat signal;

[0055] 图2C是示出差拍信号的随时间频率改变的说明性曲线图; [0055] FIG 2C is a diagram of signal travel time beat frequency graph illustrative of changes;

[0056] 图2D是示出向上调制段和向下调制段内的拍频的说明图,拍频被用来确定到目标物的距离和目标物的相对速度; [0056] FIG 2D is an explanatory view illustrating the beat frequency in the modulation period up and down modulated section, the beat frequency is used to determine the relative speed of the target object and the distance of the object;

[0057] 图3A是对照时间示出当差拍信号的频谱特征受到来自发射具有与从FMCW雷达发射的雷达波不同的调制梯度的雷达波的其它雷达的干扰影响时,从FMCW雷达发射的雷达波以及从其它雷达发射的接收雷达波的频率改变的说明图; [0057] FIG 3A is a diagram showing against time when a radar wave spectrum characteristic of the beat signal is affected by interference from other radar having a radar transmitter and the radar wave transmitted from the FMCW radar different modulation gradients, and emitted from the FMCW radar and FIG frequency change instructions received radar wave transmitted from another radar;

[0058] 图3B是示出当差拍信号的频谱特征受到发射具有与从FMCW雷达发射的雷达波不同的调制梯度的雷达波的其它雷达的存在的影响时,差拍信号的频率和差拍信号的电压振幅的随时间改变的说明图; When [0058] FIG. 3B is a diagram illustrating the influence when the radar wave spectrum characteristic of the beat signal having been emitted from the radar wave transmitted FMCW radar different modulation gradients present in other radar, the frequency of the beat signal and the beat signal voltage amplitude of the time-varying explanatory view;

[0059] 图3C是示出当差拍信号的频谱特征受到发射具有与从FMCW雷达发射的雷达波不同的调制梯度的雷达波的其它雷达的存在的影响时,差拍信号的电功率谱特征的说明图; [0059] FIG 3C is an explanatory when affect other radar beat spectrum characteristics of the signal subjected to emit radar waves and radar wave transmitted from the FMCW radar different modulation gradients present when the beat spectrum characteristic electrical power signal Figure;

[0060] 图4A是示出当差拍信号的频谱特征受到发射具有随时间恒定的频率的雷达波的其它雷达的影响时,从FMCW雷达发射的雷达波的频率的随时间改变,以及从其它雷达发射的接收雷达波的恒定频率的说明图;[0061] 图4B是示出当差拍信号的频谱特征受到以随时间恒定的频率进行发射的其它雷达的影响时,差拍信号的频率和差拍信号的电压振幅的随时间改变的说明图; [0060] FIG. 4A is a diagram illustrating the spectral characteristics when the beat signal is affected by other radar transmitter frequency having a time constant of the radar, the frequency of the radar wave transmitted from the FMCW radar change over time, as well as from other radar DESCRIPTION oF FIG constant frequency of the received radar wave transmitted; [0061] FIG. 4B is a diagram illustrating when the beat spectrum characteristics of the signal is affected by other radar transmit at a time at a constant frequency, the beat signal frequency and the beat voltage signal whose amplitude changes with time explanatory view;

[0062] 图4C是示出当差拍信号的频谱特征受到发射具有随时间恒定的频率的雷达波的其它雷达的影响时,差拍信号的电功率谱特征的说明图; [0062] FIG 4C is a diagram illustrating the spectral characteristics when the beat signal is influenced by emission having constant over time other radar frequency radar, explaining the difference beat spectrum characteristic of the electrical power signal;

[0063] 图5是示出根据本发明第一实施例的用于检测目标物特征的处理的流程图,目标物特征例如雷达的雷达范围内的目标物的存在、目标物和雷达之间的距离以及目标物相对于FMCW雷达的相对速度,该处理包括基于接收信号或差拍信号的振幅曲线中极值点的周期性来检测FMCW雷达和其它雷达之间干扰的发生的步骤; [0063] FIG. 5 is a flowchart showing a first embodiment of the present invention according to process embodiment for detecting target characteristics, and between the object characteristics such as the presence of a radar target object within the range of the radar, and the radar target distance and relative speed of the target FMCW radar, the process comprising the step of receiving occurs between the periodic signal or beat signal amplitude profile to detect extreme points and other radar-based FMCW radar interference;

[0064] 图6是示出根据本发明第一实施例的用于基于接收信号或差拍信号的振幅曲线中极值点的周期性来检测FMCW雷达和其它雷达之间的干扰的发生的处理的流程图; [0064] FIG. 6 is a diagram illustrating a first embodiment of the process occurs for the embodiment of the present invention based on the periodically received signal or beat signal amplitude profile to detect extreme points of interference between the radar and FMCW radar in accordance with other flowchart;

[0065] 图7A是示出差拍信号的随时间振幅改变以及差拍信号的振幅被图I中所示的信号处理单元以预定间隔采样的采样点的说明图; [0065] FIG. 7A is a travel beat signal amplitude changes with time and amplitude of the beat signal by the signal processing unit shown in FIG sample point I to the predetermined sampling interval explanatory diagram;

[0066] 图7B是示出差拍信号的相继时段之间的振幅差的随时间改变的说明图; [0066] FIG 7B is an explanatory diagram showing an amplitude difference beat travel time between successive periods of the signal is changed;

[0067] 图7C是示出差拍信号的振幅差的符号翻转的极值点的说明图; [0067] FIG 7C is an explanatory diagram showing travel extrema beat signal amplitude sign of the difference is reversed;

[0068] 图7D是示出每个子时段内的极值点的数目的改变的说明图,每个子时段具有单位时段T,并检查各子时段其中之一内的极值点的数目,检查是否存在具有超过干扰阈值数的极限点个数的子时段。 [0068] FIG 7D is a diagram illustrating a change of the number of extreme points within each sub-period explanatory diagram, each sub unit having a time period T, and the number of inspection one extreme point within each sub-period wherein checking whether It exists with the number of sub-periods point exceeds the limit number of interference threshold.

[0069] 图8是示出当接收信号或差拍信号遭遇了从其它雷达发射的强干扰无线电波时,接收信号或差拍信号的随时间振幅改变的说明图; [0069] FIG. 8 is an explanatory view when the received signal or beat signal suffered a strong interference of radio waves emitted from other radar signals received over time or beat signal amplitude changes;

[0070] 图9是示出当接收信号或差拍信号遭遇了从其它雷达发射的弱干扰无线电波时,接收信号或差拍信号的随时间振幅改变的说明图; [0070] FIG. 9 is a diagram illustrating when the received signal or beat signal interference suffered a weak radio wave transmitted from the other radar, or the received signal over time explaining the beat signal whose amplitude changes;

[0071] 图10是示出根据本发明第二实施例的用于检测目标物特征的处理的流程图,目标物特征例如雷达的雷达范围内的目标物的存在、目标物和雷达之间的距离以及目标物相对于FMCW雷达的相对速度,该处理包括基于由FMCW雷达接收的入射无线电波转换的接收信号或差拍信号的振幅曲线中极值点的周期性来检测FMCW雷达和其它雷达之间干扰的发生的步骤,以及从接收信号或差拍信号中去除干扰影响的步骤;以及 [0071] FIG. 10 is a flowchart illustrating between, wherein the object processing according to a second embodiment of the present invention for detecting target characteristics, for example, the presence of the object within the radar range of the radar, and the radar target distance and relative speed of the target FMCW radar, the process comprising periodic amplitude curve based on the received signal received by the FMCW radar incident radio waves or converting the beat signal to detect extreme points FMCW radar of radar and other interference occurs between the step and the step of removing interference from the received signal or beat signal; and

[0072] 图11是示出在去除了干扰影响之后接收信号或差拍信号的随时间校正振幅改变的说明图。 [0072] FIG. 11 is a diagram illustrating the time signal to correct an amplitude change in explaining reception signal after removal or beat interference.

具体实施方式 Detailed ways

[0073] 下面将参考附图说明本发明的优选实施例。 [0073] below with reference to the accompanying drawings illustrating the preferred embodiments of the present invention. 贯穿各附图,相同的构成用相同的附图标记表示。 Throughout the various figures, the same configuration denoted by the same reference numerals.

[0074](第一实施例) [0074] (First Embodiment)

[0075] 将参考图I〜图9说明本发明的第一实施例。 [0075] with reference to FIG I~ 9 illustrates a first embodiment of the present invention.

[0076] 图I是示出根据本发明的车载FMCW雷达的框图。 [0076] Figure I is a block diagram of the vehicle-mounted FMCW radar in accordance with the present invention. FMCW雷达检测到位于测量范围内的目标物的距离和/或例如前车的目标物的相对速度。 FMCW radar is detected at a distance and / or relative velocity of the target object within the measuring range of the object, for example, the preceding vehicle.

[0077] 如图I中所示,FMCW雷达2包括数模(D/A)转换器10、振荡器12、分离器14、发射天线16及信号处理单元30。 [0077] shown in FIG. I, the FMCW radar 2 comprises a digital to analog (D / A) converter 10, an oscillator 12, separator 14, transmitting antenna 16 and the signal processing unit 30.

[0078] D/A转换器10从信号处理单元30接收数字数据Dm,并将接收到的数字数据Dm转换为模拟信号M。 [0078] D / A converter 10 receives the digital data from the Dm signal processing unit 30, and converts the received digital data into an analog signal Dm M. 振荡器12从D/A转换器10接收模拟信号M,从而产生毫米波段的射频信号,信号的频率根据包含在模拟信号M中的信息随时间改变。 Oscillator 12 receives an analog signal M from D / A converter 10 to generate a millimeter wave band radio frequency signal, the frequency of the signal change over time based on the information contained in the analog signal of M. 分离器14将振荡器12生成的射频信号的电功率分离为:涉及作为毫米波段中的射频信号的发射信号Ss的第一部分,以及涉及将用来生成差拍信号的本地信号L的第二部分。 Power splitter 14 to the oscillator 12 generates a radio frequency signal is separated into: a first portion directed to a radio frequency signal as the transmission signal Ss of the millimeter waveband, and to the second portion to generate a local signal L beat signal. 发射天线16朝向目标物可能位于的测量范围发射作为雷达波的发射信号Ss。 Transmitting antenna 16 may be located toward the target range measuring emission of a radar wave as a transmission signal Ss.

[0079] 模拟信号M被D/A转换器10调制,从而以具有2X AT周期的三角波形形成,其中AT被称为扫描时间。 [0079] 10 is an analog modulated signal M D / A converter, so as to form a triangular waveform having a period 2X AT, where AT is referred to as the scan time. 根据模拟信号M,由振荡器12生成的射频信号的频率被调制,从而在扫描时间AT内线性增加,然后在扫描时间AT内线性减少。 The analog signal M, the frequency generated by the oscillator 12 is modulated RF signals, thereby increasing linearly scanning time AT, AT then decreases linearly scan time. 所以,发射信号Ss的频率的时间相关性与本地信号L的时间相关性具有相同的形式。 Therefore, the time-frequency correlation of the transmit signal Ss and the local signal L temporal correlation have the same form. 下面,将射频信号的频率线性增加的时段称为向上调制段或向上扫描调制段,且将射频信号的频率线性减小的时段称为向下调制段或向下扫描调制段。 Hereinafter, the frequency of the RF signal linearly increases up period is called scanning modulated section upwardly or modulated section, and the frequency of the RF signal decreases linearly period referred modulated section or scan down downward modulated section.

[0080] FMCff雷达还包括接收天线单元20、天线切换器22、混合器24、放大器26以及模数(A/D)转换器28。 [0080] FMCff radar unit further includes a receiving antenna 20, antenna switch 22, a mixer 24, an amplifier 26 and analog to digital (A / D) converter 28. [0081] 接收天线单元20由接收被位于测量范围内的目标物反射的反射雷达波的N个接收天线构成。 [0081] The receiving antenna unit 20 receives a target object located within the measuring range of the radar waves reflected by the N receive antennas. 优选地,N个接收天线被排列成行且均匀间隔。 Preferably, N receiving antennas are arranged in rows and evenly spaced. 该设置将对检测目标物的方向有用。 This setting will be useful for detecting the direction of the target object. 每个接收天线连接到接收切换器22的对应接收信道。 Each receiving antenna connected to a corresponding receiving channel reception switch 22. 天线切换器22选择构成接收天线单元20的N个接收天线中的一个,并将来自所选择的接收天线的接收信号Sr提供给下游阶段。 Antenna switch 22 selects one of the N reception antennas constituting the receiving antenna unit 20 and supplies the received signal Sr from the selected receiving antenna to the downstream stage. 天线切换器22被连接到信号处理单元30。 The antenna switch 22 is connected to the signal processing unit 30. 信号处理单元30控制用于在接收天线单元20的N个接收天线之间选择工作天线的改变的定时。 A control signal processing unit 30 for selecting operation of the antenna is changed between the N receiving antennas in the receiving antenna unit 20 timing. 混合器24将从天线切换器22提供的接收信号Sr和从分离器14输入的本地信号L混合,以生成差拍信号B。 Mixer 24 the received signal Sr from the antenna switch 22 provides a local signal L inputted from the mixing and separator 14 to generate a beat signal B. 放大器26放大由混合器24基于接收信号Sr和本地信号L生成的差拍信号。 Amplifier 26 amplifies the reception signal Sr and the local signal L generated based on the beat signal by the mixer 24. 由放大器26生成的经放大的差拍信号被输入到A/D转换器28,以使用用于数字化经放大的差拍信号的技术转换为数字数据Db,例如,通过以预定的采样频率采样经放大的差拍信号的大小。 Generated by the amplifier 26 the amplified beat signal is input to the A / D converter 28, to use for the conversion digitizes the amplified beat signal into digital data Db, e.g., by a predetermined sampling frequency by the size of the amplified beat signal. 为了以与预定采样频率相对应的采样周期生成采样信号,A/D转换器28还包括与信号处理单元30的时钟同步的定时器。 Order with the sampling frequency corresponding to a predetermined sampling period to generate sampled signal, A / D converter 28 further includes a timer clock synchronized with the signal processing unit 30. 信号处理单元30从A/D转换器28接收数字数据Db,并对数字数据Db执行信号处理,以获得关于目标特征的信息,目标特征例如为到反射雷达波的目标物的发射方向距离,以及装配有FMCW雷达12的对象车辆和目标物之间的相对速度。 The signal processing unit 30 from the A / D converter 28 receives the digital data Db, Db and performs signal processing of digital data, to obtain information about the target features, objects, features such as the distance to the transmitting direction of the object reflected radar wave, and equipped with a relative speed between the subject vehicle and the object 12 of the FMCW radar.

[0082] 信号处理单元30主要包括:中央处理单元(CPU)、例如只读存储器(ROM)和随机存取存储器(RAM)的存储器、以及用于在数字数据Db的信号处理中执行快速傅立叶变换(FFT)的数字信号处理器。 [0082] The signal processing unit 30 includes: a central processing unit (CPU), for example, read only memory (ROM) and random access memory (RAM), and for performing a fast Fourier transform in digital signal processing of the data Db (FFT) digital signal processor. 信号处理单元30还包括控制CPU和数字信号处理器的运行速度并用来测量时间的时钟。 The signal processing unit 30 further comprises a control operating speed of the CPU and a digital signal processor and clock for measuring time. 信号处理单元30连接到天线切换器22和A/D转换器28,以分别控制用于选择工作天线的改变的定时,并将差拍信号B转换为数字数据Db。 The signal processing unit 30 is connected to the antenna switch 22 and the A / D converter 28, the timing for changing to control the selection operation of the antenna, and the beat signal B is converted into digital data Db.

[0083] 接收天线单元20的N个接收天线被分别分配给信道I (chi)到信道N(chN)。 [0083] N receiving antennas of the receiving antenna unit 20 are assigned to the channel I (chi) to channel N (chN). 使每信道采样频率为fs,则A/D转换器28的预定采样频率应该为Fsamp = NX fs。 So that each channel sampling frequency fs, then A / D converter 28 a predetermined sampling frequency be Fsamp = NX fs.

[0084] 每信道采样频率fs被如下设定:如果最大测量频率被定义为与FMCW雷达2的测量范围内的最远距离相对应的差拍信号B的频率,则最大测量频率限制测量频率范围,使得可以使用最大测量频率以下的频率来检测到反射雷达波的目标物的距离以及装配有FMCff雷达2的对象车辆和目标物之间的相对速度。 [0084] The sampling frequency fs for each channel is set as follows: If the measurement frequency is defined as the maximum frequency of the beat signal B corresponding to the farthest distance within the measuring range of the FMCW radar 2, to limit the maximum measurement frequency measurement frequency range , making it possible to use the maximum measurement frequency below the frequency of the detected distance to the object and reflected radar wave is equipped with the relative speed between the subject vehicle and the target object 2 FMCff radar. 因此,每信道采样频率fs被设定为最大测量频率的两倍或更大,优选设定为最大测量频率的四倍或更大。 Thus, the sampling frequency fs for each channel is set to be twice or more the maximum measurement frequency is preferably set to four times or more the maximum measurement frequency. 这意味着A/D转换器28执行过采样以从差拍信号B提取冗余信息。 This means that the A / D converter 28 performs oversampling to extract a beat signal B from the redundant information.

[0085] 在以上述方式构成的FMCW雷达2中,D/A转换器10根据来自信号处理单元30的数字数据Dm生成模拟信号M。 [0085] In the FMCW radar configured as described above in 2, D / A converter 10 generates an analog signal based on the digital data from the signal processing unit 30 Dm M. 模拟信号M的频率随时间改变。 M of the frequency of the analog signal changes over time. 振荡器12则在毫米波段中生成射频信号。 Oscillator 12 generates a radio frequency signal in the millimeter waveband. 射频信号的频率以与模拟信号M的频率改变相同的方式随时间改变。 Frequency of the RF signal with the frequency of the analog signal M to change the change over time in the same manner. 分离器14分离由振荡器12产生的射频信号,以生成发射信号Ss和本地信号L。 Separator 14 separating the RF signal generated by the oscillator 12 to generate a transmit signal Ss and a local signal L. 天线16朝向测量范围辐射作为雷达波的发射信号Ss。 The antenna 16 towards the measuring range of the radiation as a radar wave transmitting signal Ss.

[0086] 从FMCW雷达2的天线16发射的雷达波被例如位于测量范围内的前车或迎面而来的车辆的目标物反射。 [0086] FMCW radar wave emitted from the radar antenna 16 is located, for example 2 reflective object within the measurement range of a preceding vehicle or an oncoming vehicle. 回到FMCW雷达2的反射雷达波被接收天线单元20的全部N个接收天线接收。 Back FMCW radar 2 is reflected radar wave receiving antenna unit 20 all the N receiving antennas reception. 然而,接收天线单元20接收从其它雷达发射的或由位于FMCW雷达2的测量范围之外的一些障碍反射的电磁波。 However, the receiving antenna unit 20 receives the transmitted electromagnetic waves from other radar or FMCW radar by a number of obstacles located outside the measuring range of 2 reflected. 这些未期望用来检测位于测量范围内的目标物的电磁波被认作噪声信号。 These are not desirable for detecting a target object located within the measuring range of the electromagnetic wave is recognized as a noise signal.

[0087] N个接收天线由信道i (chi) (i = 1,2,...,N)索引。 [0087] N channels by a receiving antenna i (chi) (i = 1,2, ..., N) index. 天线切换器22相继选择N 个接收天线中的一个,使得由天线切换器22选择的信道按预定间隔改变,并将由连接到接收切换器22的所选择信道的天线接收到的接收信号Sr提供给混合器24。 Antenna switch 22 sequentially selects one of the N receive antennas, so that the channel from the antenna switch to select the 22 changes at predetermined intervals, and the received signal Sr channel received by the antenna selected by the connection to the reception switch 22 is supplied to the mixer 24. 优选地,天线切换器22包括定时器,以按预定间隔改变所选择的天线。 Preferably, the antenna includes a timer switch 22 to the antenna at a predetermined interval selected changes. 此外,允许天线切换器22连接到信号处理单元30并接收改变信道的定时信号。 In addition, allowing the antenna switch 22 is connected to the signal processing unit 30 and receives the timing signal change channels. 混合器24将从天线切换器22提供的接收信号Sr和从分离器14输入的本地信号L混合,以产生差拍信号B。 Mixer 24 the received signal Sr from the antenna switch 22 and supplied from a local input signal L mixing separator 14 to produce the beat signal B. 差拍信号B被放大器26放大,然后被输入到A/D转换器28以使用数字化经放大的差拍信号的技术将其转换为数字数据Db。 Beat signal B amplified by the amplifier 26 and then input to the A / D converter 28 used to digitize the amplified beat signal technology converts it into digital data Db. 信号处理单元30从A/D转换器28接收数字数据Db并对数字数据Db执行信号处理,以获得关于目标特征的信息,目标特征例如为到反射雷达波的目标物的发射方向距离,以及装配有FMCW雷达2的对象车辆和目标物之间的相对速度。 The signal processing unit 30 performs A / D converter 28 receives the digital data from the digital data Db and Db processed signal to obtain information about the target features, objects, features such as the distance to the transmitting direction of the radar reflection target object, and assembly relative speed between the subject vehicle and the object 2 FMCW radar.

[0088] 参考图2A〜图2D,说明用于检测目标特征的方法,目标特征例如为到反射雷达波的目标物的距离,以及装配有FMCW雷达2的对象车辆和目标物之间的相对速度。 [0088] Referring to FIG 2A~ 2D, the description features a method for detecting a target, for example, to certain characteristics of the reflected radar wave from the target object, and equipped with a relative speed between the subject vehicle and the FMCW radar target 2 .

[0089] 如图2A中所示,对应于发射信号Ss并从天线16发射的雷达波fs的频率成锯齿状波形周期性变化。 [0089] As shown in FIG. 2A, fs corresponding to the radar transmit signal Ss from the antenna 16 and transmitted to a frequency periodically varying sawtooth waveform. 雷达波fs的频率变化的锯齿状波形具有向上调制段或向上扫描调制段,以及向下调制段或向下扫描调制段;在向上调制段或向上扫描调制段期间,雷达波fs的频率在等于雷达波fs的频率变化宽度l/fm的一半的扫描时间AT期间线性增加一个频率调制宽度AF ;在向下调制段或向下扫描调制段期间,雷达波fs的频率在等于雷达波fs的频率变化周期l/fm的一半的扫描时间AT期间线性降低一个频率调制宽度AF。 Sawtooth waveform of the frequency change of the radar wave fs modulated section having an upward direction or a scanning modulated section, and a scan down the downward modulated section or modulated section; modulated section during the upward or upward scan modulation period equal to the frequency of the radar wave fs half the scan time period aT linear frequency variation width of the radar wave fs l / fm is a frequency modulation width increased the AF; modulated section during the downward or downward modulated section scanning radar wave frequency equal to the frequency fs of the radar wave fs variation period l / fm half the scan time period AT to reduce a linear frequency modulation width AF. 因此,雷达波fs的频率变化的一个周期为2X AT,包含一个向上调制段和后面的向下调制段。 Thus, a cycle frequency of the radar wave fs 2X AT, comprising a modulator modulating the up and down and the following paragraphs. 如图2A中所示,用来计算装置2和目标物之间的距离以及目标物的相对速度的雷达波fs的中心频率为f0。 As shown in FIG. 2A, the center frequency of the means for calculating the relative speed of the radar wave fs and the distance between the object and the object 2 to f0. 雷达波fs的中心频率f0可以被调整。 The radar wave fs center frequency f0 can be adjusted. 从FMCW雷达2的天线16辐射的雷达波fs被位于测量范围内的目标物反射。 FMCW radar antenna 2 from the radar wave fs radiation 16 reflected by the target object located in the measurement range. 于是,目标物充当反射雷达波fr的源,且反射雷达波fr被接收天线单元20接收以生成接收信号Sr。 Thus, the target serving as a source of reflected radar wave fr and fr reflected radar wave received by receiving antenna unit 20 to generate the received signal Sr. 混合器24将从天线切换器22提供的接收信号Sr和从分离器14输入的本地信号L混合,以生成差拍信号B。 Mixer 24 the received signal Sr from the antenna switch 22 provides a local signal L inputted from the mixing and separator 14 to generate a beat signal B. 这里,差拍信号包括:向上调制段内接收信号Sr和本地信号L产生的混合信号,以及向下调制段内接收信号Sr和本地信号L产生的另外的混合信号。 Here, the beat signal comprises: mixing a signal received signal Sr and the local signal L generated in the upward modulated section, as well as additional mixing signal reception signal Sr and the local signal L generated by the downward modulated section.

[0090] 例如,天线切换器22被设计来执行下面的操作:每一次从信号处理单元30接收到定时信号时,天线切换器22从信道I (chi)到信道N(ChN)顺序改变天线单元20的所选信道,并重复地选择它们。 [0090] For example, the antenna switch 22 is designed to perform the following operations: each time received from the signal processing unit 30 to the timing signal, the antenna switch 22 changes the antenna unit from the channel I (chi) to channel N (ChN) sequence 20 the selected channel, and repeatedly select them. 使每信道、在每个雷达波fs的包括向上调制段和向下调制段的一个频率变化周期的采样次数为2XMsamp,一个频率变化周期即扫描时间2X AT = 2Xl/fm。 So that each channel, the number of samples in a modulation frequency changes up and down modulation period segment of each segment of the radar wave fs including 2XMsamp, a frequency change cycle is the sweep time 2X AT ​​= 2Xl / fm.

[0091] 因此,当等同于向上调制段和向下调制段其中之一的测量完成时,针对信道chi到chN的每一个生成Msanip个采样数据。 [0091] Thus, when the upward modulated section is equivalent to measuring the downward modulated section and wherein one of completion, for each channel chi to generate data of chN Msanip samples.

[0092] 图2B是示出由混合器24生成的差拍信号的电压振幅的说明性时间图。 [0092] FIG. 2B is an illustrative time chart of the amplitude of the voltage generated by the mixer 24 of the beat signal. 如果没有发生干扰且在FMCW雷达2的测量范围之外不存在大或长的障碍,且在测量范围内只存在到雷达2的相对速度为0的目标物,则差拍信号具有恒定频率的正弦曲线波形。 If interference does not occur and a large or long obstacles exist outside the measurement range of the FMCW radar 2, and exists only within the measurement range to the relative speed of the radar target 2 is 0, the beat signal having a constant frequency sinusoidal curve waveform.

[0093] 如图2A和图2C所示,在向上调制段和向下调制段的每一个中,A/D转换器28按预定采样周期递归地采样差拍信号B,并将采样的差拍信号B转换为数字信号Db。 [0093] Figures 2A and 2C, each one, A / D converter upward modulated section and the downward modulated section 28 recursively sampled at a predetermined sampling period, the beat signal B, and the sampled beat B signal into a digital signal Db. 因此,产生包括频率增加周期和频率减小周期的反射雷达波fr的频率变化。 Thus, a change in frequency of the reflected radar wave includes a frequency fr, frequency increase period and decrease period.

[0094] 例如,在车载FMCW雷达2的速度等于目标物的速度的情况下,即,在目标物相对速度为0的情况下,反射雷达波被延迟了雷达波在雷达2和目标物之间以光速c传播的时间。 In the case where the [0094] For example, in the vehicle-mounted FMCW radar speed equal to the speed of the object 2, i.e., the relative speed of the target object is 0, the delay between the reflected radar wave is a radar wave in the radar and the target object 2 c speed of light propagation time. 在这种情况下,来自目标物的反射雷达波fr相对于雷达波fs被沿时间位移了延迟时间td,如图2A所示。 In this case, fr reflected radar wave from the target object relative to the radar wave fs is displaced in time by a delay time td, shown in Figure 2A. 此外,用傅立叶分析或其它频率分析工具分析差拍信号B,以获得差拍信号B的功率谱特征或其它频率谱特征。 In addition, other Fourier analysis or frequency analysis tool for analyzing the beat signal B, to obtain a power spectrum characteristic of the beat signal B or other frequency spectral features.

[0095] 图2D是示出向上调制段和向下调制段内的拍频的说明图。 [0095] FIG 2D is a diagram illustrating and explaining the upward modulated section in the beat frequency modulated section downwardly.

[0096] 在当前考虑的目标物相对速度为0的情况下,差拍信号在频率增加周期中的峰值频率fbu等于差拍信号在频率下降周期中的峰值频率fbd。 In the case [0096] In the relative speed of the target object currently considered is 0, the beat signal frequency increases in the peak frequency fbu period is equal to the peak frequency fbd of the beat signal in the frequency decreasing period. 令雷达2和目标物之间的距离为D,通过用延迟时间td乘以光速c容易地获得距离D为:D = tdXc。 So that the distance between the radar and the object is D, the distance D is easily obtained by multiplying the speed of light c by the delay time td as: D = tdXc.

[0097] 然而,在车载FMCW雷达2的速度与目标物的速度不同的情况下,即,在目标物的相对速度不为0的情况下,反射雷达波具有多普勒频移fd。 [0097] However, at a different speed and the target vehicle speed FMCW radar case 2, i.e., in a case where the relative speed of the target object is not 0, the reflected radar wave having a Doppler shift fd. 因此,反射雷达波fr的频率沿频率位移了多普勒频移fd,且沿时间位移了延迟时间td。 Thus, the frequency of the reflected radar wave fr displaced along the Doppler shift frequency fd, and the displacement along the time the delay time td. 在这种情况下,如图2D中所示,差拍信号在频率增加周期中的峰值频率fbu与差拍信号在频率减小周期中的峰值频率fbd不同。 In this case, in 2D, the different beat signal frequencies increase period and the peak frequency fbu peak frequency fbd of the beat signal in the frequency decreasing period. 即,反射雷达波fr的频率沿时间位移了延迟时间td,并沿频率位移了多普勒频移fd。 That is, the frequency of the reflected radar wave fr shifted along the time delay td, and the displacement along the Doppler shift frequency fd. 令目标物的相对速度为V,则可以根据沿图2A中的频率轴的雷达波fs和反射雷达波fr之间的频率差来计算目标物的相对速度V。 So that the target relative speed is V, may be calculated according to the relative speed of the target object fs frequency difference between the radar along the frequency axis in FIG. 2A and reflected radar wave fr V.

[0098] 反射雷达波fr相对雷达波fs的延迟时间td对应于反射雷达波fr相对雷达波fs的频率位移的第一分量fb,使得: [0098] reflected radar wave fr fs relative delay time td of the radar wave reflected radar wave corresponding to the first component fb frequency fr relative displacement of the radar wave fs, such that:

[0099] 令」圳+UH [0099] order "Chun + UH

2 (I) 2 (I)

[0100] 其中,fbu和fbd分别是差拍信号在频率增加周期中的峰值频率和差拍信号在频率减小周期中的峰值频率。 [0100] wherein, fbu, and fbd of the beat signals are increased in frequency and the frequency of the peak period of the beat signal at the peak frequency in the frequency decreasing period. 因为通过去除多普勒频移的影响获得了等式(I)中的第一分量fb,所以频率位移的第一分量fb与设备2和目标物之间的距尚D对应如下: Because the first component fb obtained equation (I) by removing the influence of the Doppler shift, the distance D between the first component still fb device 2 and the object corresponding to the frequency shift as follows:

[0101] [0101]

P =-—-X fb P = --- X fb

4x^Fx/m (2) 4x ^ Fx / m (2)

[0102] 其中,AF是在雷达波fs的频率变化周期l/fm的一半期间的频率调制宽度,c为光速。 [0102] where, AF is the frequency modulation width of the frequency fs changes during radar wave half period l / fm is, c is the speed of light.

[0103] 与目标物的相对速度V相关的多普勒频移fd可以使用差拍信号在频率增加周期中的峰值频率fbu和差拍信号在频率减小周期中的峰值频率fbd来表达如下: [0103] associated with the relative velocity V of the object of the Doppler shift fd can be used to reduce the peak frequency in a frequency fbd of the beat period signal and the peak frequency fbu of the beat signal in the frequency increasing period is expressed as follows:

[0104] [0104]

\fbd\^\fbu\ 2 (3) \ Fbd \ ^ \ fbu \ 2 (3)

[0105] 可以使用下面的表达式,根据峰值频率fbu和fbd获得目标物的相对速度V : [0105] the following expression may be used to obtain the relative velocity V of the target object from the peak frequency fbu, and fbd:

[0106] V = ~fd 2X/0 (4) [0106] V = ~ fd 2X / 0 (4)

[0107] 其中,f0是雷达波fs的中心频率。 [0107] where, f0 is the center frequency of the radar wave fs.

[0108] 因此,使用差拍信号在频率增加周期中的峰值频率fbu和差拍信号在频率减小周期中的峰值频率fbd,可以获得FMCW雷达2和目标物之间的距离,以及目标物相对于FMCW雷达2的相对速度。 [0108] Thus, using the beat frequency fbu signal peaks and increasing the frequency of the beat signal cycle peak frequency fbd in the frequency decreasing period, the distance can be obtained between the FMCW radar 2 and the object, and the object relative FMCW radar at a relative speed of 2. 因此,差拍信号B中峰值频率fbu和fbd的确定是频率分析中的重要主题之一。 Accordingly, the determination signal and B is the peak frequency fbu fbd of the beat frequency is an important topic analysis. 为了准确地确定峰值频率fbu和fbd,分离出差拍信号的频谱特征中与目标物和雷达2之间的距离以及目标物的相对速度不直接相关的噪声分量是重要的。 In order to accurately determine the peak frequency fbu, and fbd, to extract the differential signal beat spectrum characteristic is important in the radar and the target and the relative speed and the distance between the target object is not directly related to the noise component. 差拍信号的频谱特征中的噪声分量可能由于在如下情况下发生的干扰而产生:装配对象车辆的FMCW雷达和安装在另一干扰车辆中的其它雷达具有彼此不同的雷达波调制梯度,即使是略微的不同;或其它雷达不是FMCW雷达。 Beat frequency spectrum characteristic of the noise component in the signal may occur due to the interference generated in the case where: FMCW radar assembly and other objects of the vehicle mounted radar interference another vehicle have mutually different radar wave gradient modulation, even slightly different; or not other radar FMCW radar. 差拍信号的频谱特征中的那些噪声分量导致噪声本底水平上升,使得峰值频率fbu和fbd处的高度可能不超过噪声本底水平。 Characterized in that the noise spectrum of the beat signal component leads to increased noise floor level, so that the height of the peak at frequency fbu, and fbd may not exceed the noise floor level. 通常,噪声本底水平被定义为有用信号水平的最低界限。 Typically, the noise floor level is defined as the lowest limit of the useful signal level. 因此,噪声本底水平是来源未明的弱噪声的强度,且如果干扰发生,则受FMCW雷达和其它雷达之间的干扰的影响。 Thus, the noise floor level is unknown source strength weak noise, and if disturbance occurs, the influence of interference between the FMCW radar and other radar are subject. 此外,由于存在位置超出测量范围的大型目标物,所以用于判断FMCW雷达和其它雷达之间是否存在干扰的传统工具给出错误的结论。 Further, due to the position of the measuring range a large object, the conventional tools for judging whether there is interference between the FMCW radar gives radar and other wrong conclusions. 因此,检测位置超出FMCW雷达2的测量区域的大型目标物非常重要。 Thus, the FMCW radar detection position beyond the measuring region of the large object 2 is very important.

[0109] 参考图3A〜图4C,将更详细地说明噪声本底水平如何在一些情况下增加,该一些情况例如:对象车辆装配的FMCW雷达和安装在其它(干扰)车辆中的其它雷达具有彼此不同的雷达波调制梯度,即使是略微的不同;其它雷达不是FMCW雷达,例如是双频连续波、多频连续波、脉冲、扩展频谱等雷达的情况。 [0109] Referring to FIG 3A~ 4C, a description will detail how the noise floor level increases in some cases, the number of cases such as: object vehicle assembly and other radar FMCW radar mounted on other (interference) of a vehicle having mutually different radar modulation gradient, even slightly different; the other is not a radar FMCW radar, for example, a dual-band continuous-wave, multi-frequency continuous wave, pulse, and other spread spectrum radar.

[0110] 图3A是示出从FMCW雷达2发射的雷达波以及从其它雷达发射的接收雷达波的频率的随时间改变的说明图,其中其它雷达发射具有与发射自FMCW雷达的雷达波不同的调制梯度的雷达波。 [0110] FIG 3A is an explanatory view showing a radar transmit frequency of the radar 2 and reception from the transmitted radar from other radar FMCW changes with time, wherein the other emits a radar wave radar FMCW radar emitted from different radar wave modulated gradients. 在这种情况下,在某时间段中,雷达波fs在向上调制段和向下调制段内的频率变化范围与同时从其它雷达发射的雷达波的频率变化范围重叠。 In this case, during a given period, the frequency variation range of the radar wave fs within the upward modulated section and the downward modulated section and the frequency variation range of the radar wave transmitted from the other radar while overlapping.

[0111] 图3B是示出差拍信号的频率和差拍信号的电压振幅随时间改变的说明图。 [0111] FIG. 3B is a diagram explaining travel beat frequency and the voltage amplitude of the beat signal is a signal change over time. 如图3B中所示,在向上调制段内,本地信号LO和包括从其它雷达发射的雷达波的接收雷达波之间的频率差是可变的,且与图2A中所示的情况相比较大地变化。 As shown in FIG. 3B, in the upward modulated section, the frequency difference between the local signal LO includes a transmitter and receiver radar from other radar radar wave is variable, and is compared with the case shown in FIG. 2A changes in the earth. 通过混合本地信号LO和接收到的信号Sr生成差拍信号。 Generating a beat signal by mixing the local signal LO and the received signal Sr.

[0112] 如果其它雷达发射具有与从FMCW雷达2发射的雷达波相同的频率变化模式的雷达波,即,如果从其它雷达发射的雷达波的频率在雷达波的向上调制段内增加并在向下调制段内减小,则窄峰在差拍信号的频谱特征中出现。 [0112] If the other radar transmitter and radar having a radar wave transmitted from the FMCW radar 2 same frequency change pattern, i.e., if the frequency of the transmitted radar wave from other radar increases in the upward modulated section and the radar wave reducing the down-modulation section, the narrow peak in the frequency spectrum characteristic of the beat signal.

[0113] 然而,如果由其它雷达发射的雷达波的频率梯度与从FMCW雷达2发射的雷达波的不同,则因为从其它雷达和FMCW雷达2发射的雷达波的频率之间的差随时间改变,使得频谱的许多分量被包括在差拍信号的频谱特征中,所以将在差拍信号的频谱特征中引起宽峰。 [0113] However, if the radar waves transmitted by other radar frequency different from the gradient of the radar wave transmitted from the FMCW radar 2, since the difference between the frequency of the radar wave transmitted from the other radar FMCW radar 2 and change over time such spectrum comprises a number of components in the frequency spectrum is characteristic of the beat signal, it will cause a broad peak spectrum characteristic of the beat signal.

[0114] 图3C是示出在这种情况下差拍信号的电功率谱特征的说明图。 [0114] FIG 3C is an explanatory diagram showing the case in which the beat of the spectral characteristics of the electrical power signal. 可见,噪声本底水平被FMCW雷达2和其它雷达之间的干扰提高,其中其它雷达发射具有与从FMCW雷达2发射的雷达波的不同的调制梯度的雷达波。 Be seen, the noise floor level is increased interference between the radar and other FMCW radar 2, wherein the other radar transmitter radar waves having different modulation gradient of the radar wave transmitted from the FMCW radar 2.

[0115] 图4A是示出从FMCW雷达2发射的雷达波的频率随时间的改变,以及从其它雷达发射的接收雷达波的恒定频率的说明图。 [0115] FIG. 4A is a diagram illustrating a frequency emitted from the radar FMCW radar 2 change over time, and an explanatory view of a constant frequency received radar wave transmitted from other radars. 发射具有恒定频率的雷达波的雷达例如是双频连续波型雷达、多频连续波型雷达、脉冲型雷达、以及频谱扩展型雷达。 Emitting a radar wave radar, for example, a dual continuous wave radar, multi-frequency CW radar, a pulse radar, and spread spectrum radar constant frequency.

[0116] 图4B是示出差拍信号的频率和差拍信号的电压振幅的随时间改变的说明图。 [0116] FIG. 4B is a diagram explaining travel beat frequency and the voltage amplitude of the beat signal of the signal change over time. 在图4B所示的情况下,在向上调制段和向下调制段内,本地信号LO和包括从其它雷达发射的雷达波的接收雷达波之间的频率差不是恒定的,且与图2A中所示的情况相比较大地变化。 In the case shown in FIG. 4B, the upward modulated section and the downward modulated section, the frequency between the local signal LO and receiving radar waves emitted from other radar comprising a radar difference is not constant, and in FIG. 2A the case shown greatly changed compared. · ·

[0117] 在这种情况下,如图4C中所示,噪声本底水平被FMCW雷达2和其它雷达之间的干扰提高,其中其它雷达发射具有与从FMCW雷达2发射的雷达波的不同的调制梯度的雷达波。 [0117] In this case, as shown in FIG 4C noise floor level is increased interference between the radar and other FMCW radar 2, wherein the other having a different radar transmitter and radar wave transmitted from the FMCW radar 2 is radar wave modulated gradients.

[0118] 在图3A和图4A中所示的两种情况下,因为本地信号LO和包括从其它雷达发射的雷达波的接收雷达波之间的频率差不是恒定的且较大地变化,所以差拍信号包括从低频到高频的频率分量。 [0118] In both cases shown in FIGS. 3A and 4A, since the frequency difference between the local signal LO and comprising a transmitter from other radar receives radar wave radar difference is not constant and changes greatly, the difference frequency components from the beat signal comprises a low to high. 因此,当在从FMCW雷达2和其它雷达发射的雷达波之间发生干扰时,通过频率分析获得的频谱特征可以包括宽峰或增强的噪声本底水平。 Thus, when interference occurs between the FMCW radar the radar wave emitted from the radar 2 and the other, the spectral characteristics obtained by the frequency analysis may include broad peaks or increased noise floor level. 如果我们将最大测量频率定义为这样的频率:与位于FMCW雷达的测量范围内的目标物的目标特征相对应的拍频在该频率之下,则宽峰的一些频率分量超过最大测量频率。 If we measure the frequency of the maximum frequency is defined as: wherein the target is located within the measuring range of the FMCW radar of the object corresponding to the beat frequency below the frequency, some broad peak frequency components exceeds the maximum measurement frequency.

[0119] 利用差拍信号的频谱特征的噪声本底水平的上升导致高频分量的强度的和或满足预定条件的频率分量的数目的增大的事实,使用已知技术之一来检测由其它雷达的干扰产生的宽峰。 [0119] With the increase in the noise floor level of the beat frequency spectrum characteristic of the signal results in intensity or high frequency components and increasing the number of frequency components satisfies a predetermined condition of fact, the use of one of known techniques to detect by other broad radar interference generated. 利用该事实,如果这种和或数目超过相应的阈值,则连续波FMCW雷达得出发生其它雷达的干扰的结论。 Using this fact, and if this number exceeds a corresponding threshold or value, the continuous wave FMCW radar interference from other radar draw conclusions occurs.

[0120] 如果例如卡车和货车的一些大型车辆或例如高速公路桥和其桥墩的建筑物位于比FMCW雷达2的测量范围更远处,则差拍信号的频谱特征可包含高频区域中超过最大测量频率的多个非常大的峰。 [0120] If, for example, some large vehicles such as trucks and lorries, for example, highway bridges or piers and other buildings located farther than the measuring range of the FMCW radar 2, the spectral characteristic of the beat signal may comprise high frequency region exceeding the maximum multiple very large peaks measuring frequency. 因此,位置超出FMCW雷达的测量区域的大目标物在没有任何其它雷达的情况下增加了高频分量的强度的和,以及满足预定条件的频率分量的数目,且在采用已知技术的其中一个时,导致对其它雷达的干扰的错误确定。 Thus, the position outside the measuring region of the FMCW radar large object without any other increases in the case of a radar intensity and high frequency components, and the number of frequency components satisfies a predetermined condition, and in which a known technique employed when, resulting in erroneous determination of interference by some other radar.

[0121] 在下文中,参考图5,说明用于确定是否发生其它雷达的干扰的方法。 [0121] Hereinafter, with reference to FIG. 5, whether the method interference from other radar for determining occurrence. 下面要说明的方法使得对是否存在其它雷达的干扰的确定准确度提高。 The method to be described below so that the accuracy of determining whether there is interference from other radar increases.

[0122] 图5是示出用于检测目标物特征的处理的流程图,目标物特征例如雷达的雷达范围内的目标物的存在、目标物和雷达之间的距离以及目标物相对于FMCW雷达的相对速度,该处理包括检测FMCW雷达和其它雷达之间干扰的发生的步骤。 [0122] FIG. 5 is a flowchart showing a process for detecting target characteristics, such as the distance between the object characterized in the presence of the object within the radar range of the radar, and the radar and the target object with respect to the FMCW radar relative speed, the process comprising the step of detecting the occurrence of interference between the FMCW radar and other radar. 这个干扰检测基于产生FMCW雷达2接收的入射无线电波的变换版本,和分析这个变换的信号中的极值点的周期性。 The interference detection based on the generation of a transformed version of the incident radio wave received by the FMCW radar 2, and a periodic analysis of the extreme point in the transformed signal. 下面给出进一步的细节。 Further details are given below.

[0123] 应注意,在这个实施例中,差拍信号被用作入射无线电波的变换版本。 [0123] Note that in this embodiment, the beat signal is used as a transformed version of incident radio waves. 通过混合发射信号Ss和接收信号Sr来产生差拍信号。 Generating a beat signal by mixing the transmitting signal Ss and the reception signal Sr. 然而,可以只使用从入射无线电波变换的接收信号Sr作为变换版本。 However, only a reception signal Sr from the incident radio waves as a transformed version of Transform. [0124] 图5中所示的处理由图I中的信号处理单元30执行。 The processing shown in [0124] FIG. FIG. 5 is executed by the I signal processing unit 30. 该过程开始,然后以预定检测间隔重复。 The process begins, and then repeated at a predetermined detection interval.

[0125] 在步骤SllO中,FMCW雷达2的信号处理单元30向D/A转换器10输出数字数据Dm。 [0125] In the step SllO, FMCW radar signal processing unit 302 to the D / A converter 10 outputs the digital data Dm. 数字数据Dm包括关于毫米波段中的射频信号的频率调制的信息,以生成一个频率变化周期上的雷达波。 Digital data Dm includes information about the frequency of the modulated radio frequency signal in the millimeter waveband to generate a radar on a frequency change cycle. 一个频率变化周期包括向上调制段和向下调制段。 A frequency variation cycle comprising the downward and upward modulated section modulated section. 在向上调制段中,雷达波fs的频率在扫描时间AT期间线性增加了频率调制宽度AF。 In the upward modulated section, the frequency of the radar wave fs AT scan time increases linearly during the frequency modulation width AF. 在向下调制段中,雷达波fs的频率在扫描时间AT期间线性减小了频率调制宽度AF。 In the downward modulated section, the frequency of the radar wave fs AT linear scan time is reduced during the frequency modulation width AF. 振荡器12使用用于调制射频信号的信息以生成要从天线16辐射的雷达波。 Oscillator 12 uses radar information modulated radio frequency signal is used to generate the radiation from the antenna 16. 此外,在步骤S110,信号处理单元30读取由A/D转换器28获得的数字数据Db。 Further, at step S110, the signal processing unit 30 reads the digital data obtained by A / D converter 28 Db. 通过数字化由混合器24生成的差拍信号获得数字数据Db。 Beat signal generated by the mixer 24 to obtain the difference between the digital data Db by digitizing. 通过将接收信号Sr,即由接收天线20接收到的反射雷达波,与包括关于数字数据Dm的信息的本地信号L混合,生成差拍信号。 By the reception signal Sr, i.e. received reflected radar wave by the receiving antenna 20, mixed with the local signal L includes information about the digital data Dm, generates beat signal.

[0126] 在本实施例中,差拍信号B的数字数据Db包含包括差拍信号在频率增加段中的强度的第一数字数据以及包括差拍信号在频率减小段中的强度的第二数字数据。 [0126] In the present embodiment, the digital data Db of the beat signal B comprises a first digital data comprises a beat strength signal in the frequency increasing section includes an intensity and frequency of the beat signal in the second reduced section digital data. 差拍信号B 的数字数据Db被存储在信号处理单元30的存储器中。 Beat signal B digital data Db stored in the memory of the signal processing unit 30. 第一和第二数字数据中的每一个具有NXMsamp个采样数据。 First and second digital data each having a data NXMsamp samples. 因此,A/D转换器28执行过采样以从差拍信号提取冗余信息。 Accordingly, A / D converter 28 performs oversampling to beat signal extracted from the difference redundant information. 将在该步骤中获得的第一和第二数字数据存储在信号处理单元30的存储器中,以在计算差拍信号的振幅改变时进行参考。 First and second digital data obtained in the storage step in a memory in the signal processing unit 30 to perform the reference in calculating the beat signal amplitude changes. 从而,信号处理单元30存储包括第一和第二数字数据,至少在图5定义的先前循环操作中获得的在前数字数据的历史数字数据。 Thus, the signal processing unit 30 comprises a first memory and a second digital data, the digital data at least in the front historical figures obtained in the previous cycle of operation defined by the data in FIG. 5.

[0127] 随后在步骤S120,基于在步骤S120执行的操作的结果确定是否发生FMCW雷达2和其它雷达之间的干扰。 [0127] Then at step S120, the based on the result of the operation performed in step S120 to determine whether interference between the FMCW radar 2 and the other radar occurs. 下面将参考图6详细说明该步骤中的操作。 6 shows in detail below with reference to the operation of the steps described.

[0128] 如果步骤S140的确定结果是“是”,则确定发生了FMCW雷达2和其它雷达之间的干扰。 [0128] If the determination result of step S140 is "YES", it is determined that the interference between radar FMCW radar 2 and the other place. 然后,过程前进到步骤S190。 Then, the process proceeds to step S190.

[0129] 与此相对比,即,如果步骤S140的确定结果是“否”,则确定在FMCW雷达2和其它雷达之间没有发生干扰。 [0129] In contrast to this, i.e., if the determination result of step S140 is "NO", it is determined that no interference occurs between 2 and other radar FMCW radar. 然后,过程前进到步骤S140。 Then, the process proceeds to step S140.

[0130] 在步骤S140,信号处理单元30分别对差拍信号的与频率增加段和频率减小段中的数据相对应的第一和第二数字数据进行频率分析,例如快速傅立叶变换(FFT)分析。 [0130] In step S140, the signal processing unit 30, respectively, the beat frequency is increased by performing frequency analysis of the first and second digital data in the data section and the frequency decreasing section corresponding to the signal, such as a fast Fourier transform (FFT) analysis. 作为快速傅立叶变换的结果,计算出了每一个值被分配给各频率分量其中之一的复数值。 As a result of the fast Fourier transform, the complex value is calculated for each value is assigned to each one of the frequency components. 即,通过傅立叶变换将差拍信号强度的时域表示转换为其频域表示。 That is, the time domain by the Fourier transform representation of the intensity of the beat signal for a frequency domain representation conversion. 每个复数值的绝对值指示相应频率分量的功率。 The absolute value of each complex value indicative of power of the corresponding frequency component. 因此,通过傅立叶变换,可以获得差拍信号的功率谱或频谱特征。 Therefore, by Fourier transform, the beat can be obtained power spectrum or spectral characteristics of the signal. 然后,过程前进到步骤S150。 Then, the process proceeds to step S150.

[0131] 允许分别计算与第一和第二数字数据相对应的差拍信号的第一和第二频谱特征。 [0131] Allow calculates the first and second spectral characteristic of the beat signal corresponding to the first and second digital data. 此外,允许基于每Msamp个采样数据来计算针对每个信道以及频率增加段和频率减小段中每一个的差拍信号的每个频谱特征。 Further, on a per Msamp allowing sample data to calculate the increase in the frequency spectrum characteristic of each section and the frequency decreasing section of each of the difference beat signal for each channel and frequency. 在这种情况下,获得了差拍信号B的2个谱特征。 In this case, a two spectral characteristic of the beat signal B.

[0132] 注意,如果将最大测量频率定义为差拍信号B的指示FMCW雷达2的测量距离范围,即雷达范围内的最远距离的频率,则最大测量频率限制测量频率范围,使得最大测量频率之下的频率分量被允许来检测到反射雷达波的目标物的距离,以及装配有FMCW雷达12的对象车辆和目标物之间的相对速度。 [0132] Note that, if the maximum frequency is defined as the measurement of the beat signal B indicative of the measurement distance range FMCW radar 2, i.e., the farthest distance within the radar frequency range, limiting the maximum measurement frequency measurement frequency range, so that the maximum measurement frequency frequency components below is allowed to detect the reflected radar wave from a target object, and the relative speed between the subject vehicle and the object 12 is equipped with the FMCW radar. 因此,高频分量可以被定义为超过最大测量频率的频率分量。 Thus, the high frequency component may be defined as the maximum frequency component exceeds the frequency of measurement. 覆盖高频分量的频率范围将被称为高频范围。 Covering the frequency range of high frequency components will be referred to a high frequency range.

[0133] 针对频率增加段和频率减小段中的每一个的差拍信号的功率谱或频谱特征不仅包含低于或等于最大测量频率的频率分量(将被称为目标检测频率范围),还包括超过最大测量频率(即位于高频范围内)的频率分量。 [0133] For increasing the power spectrum or frequency spectrum characteristic of the difference in the frequency decreasing section and the segments of each of the beat signal comprising only a frequency component lower than or equal to the maximum measurement frequency (to be referred to as target detection frequency range), further including a frequency component exceeding the maximum measurement frequency (i.e., located within a high frequency range).

[0134] 如果最大测量频率被设定为当目标物的相对速度为0时与256米相对应的116千赫,则高频范围可以被设定为200〜333千赫。 [0134] If the maximum measurement frequency is set to a target object when the relative speed is 0 and 256 m corresponds to 116 kHz, the frequency range may be set to 200~333 kHz.

[0135] 在步骤S150,峰检测阈值被设定为大于预定干扰阈值,在最大测量频率之下且功率超过峰检测阈值的频率分量被分别收集为针对向上调制段和向下调制段中的每一个且针对每一个信道的峰值频率。 [0135] In step S150, the peak detection threshold is set larger than the predetermined interference threshold, and the power exceeds the peak detection threshold frequency components are separately collected as the for the upward modulated section and the downward modulated section each below the maximum measurement frequency and a peak frequency for each channel. 然后,从接收信号Sr收集与针对于相应信道的每个峰值频率相对应的数字数据Xi (t) (i = I,• • •,N)以形成向量X (t) = (X1 (t),• • •,xN (t))。 Then, from the reception signal Sr collect each peak frequency for the respective channels corresponding to the digital data Xi (t) (i = I, • • •, N) to form the vector X (t) = (X1 (t) , • • •, xN (t)). 即,数字数据Xi(t) (i = 1,...,N)与在无线电频率信号的频率变化的锯齿状波形中的一个2X AT周期上的针对于每个信道的每一个峰值频率相对应。 That is, for each of the peak frequencies for each channel on the digital phase data Xi (t) (i = 1, ..., N) with a 2X AT ​​cycle frequency variation in a radio frequency signal of the sawtooth waveform correspond. 优选地,每个数字数据Xi (t) (i = 1,...,N)包含3个向上调制段或3个向下调制段中的数据。 Preferably, each digital data Xi (t) (i = 1, ..., N) comprising data modulated section 3 upward or downward modulated three segments. 该向量X(t)被用来获取位于FMCW雷达2的测量范围内的目标物的方向。 The vector X (t) is used to obtain the direction of a target object located within the measuring range of the FMCW radar 2. 例如,如果接收天线单元20的N个天线被相等地分开,贝1J可以采用多信号分类(MUSIC,multiple signal classification)方法来获得目标物的方向。 For example, N reception antennas if the antenna unit 20 is separated equally, shellfish 1J multiple signal classification (MUSIC, multiple signal classification) method can be used to obtain the direction of the target object. 在MUSIC方法中,X (t)的自相关矩阵起到估计目标物方向的核心作用。 In the MUSIC method, X (t) is the estimated autocorrelation matrix play a central role in the target direction. 对MUSIC方法的说明可以在“Multiple emitter locationand signal parameter estimation,,,R. 0. Schmidt, IEEE Trans. AntennasPropagat. Vol. 34(3)March(1986)PP. 276-280 中找到。 Can. 276-280 found on the MUSIC method described in "Multiple emitter locationand signal parameter estimation ,,, R. 0. Schmidt, IEEE Trans. AntennasPropagat. Vol. 34 (3) March (1986) PP.

[0136] 使用MUSIC方法,基于在图5的当前循环操作中获得的数字信号数据Xi (t) (i =1,...,N)和在先前循环操作获得的数字信号数据Xi(t-1) (i = 1,...,N),检测目标物的方向。 [0136] using the MUSIC method, based on the numbers obtained in the current cycle of operation of the FIG. 5 signal data Xi (t) (i = 1, ..., N) in the previous cycle, and the operation of the digital signal data obtained Xi (T- 1) (i = 1, ..., N), the detection direction of the target object. 数字信号数据xdt)和\(卜1)中的每一个构成相应的自相关矩阵RS(t)和R(tl)。 Digital signal data XDT) and \ of each of (1 BU) constituting a respective autocorrelation matrix RS (t) and R (tl). 使用自相关矩阵RS⑴和R (t-1),将在当前时间进行MUSIC方法的关联自相关矩阵R (t)计算为: Used in association RS⑴ and autocorrelation matrix R (t-1), will the MUSIC method in the current time of the autocorrelation matrix R (t) is calculated as:

[0137] R(t) = a XRS(t) + (la ) XR(tl) (5) [0137] R (t) = a XRS (t) + (la) XR (tl) (5)

[0138] 其中,0< a < I是示出由在图5中所示步骤SllO〜S190定义的过程的两个操作时间之间的相关性的衰减的参数。 [0138] where, 0 <a <I is a parameter by the correlation between the two attenuation time during the operation defined in the step shown in FIG. 5 SllO~S190 shown.

[0139] 如果检测出多个峰值频率,则预期存在数目等于峰值频率数目的多个目标物。 [0139] If a plurality of detected peak frequencies, it is expected that the presence of the peak number is equal to the number of the plurality of target frequencies. 从而,针对向上调制段和向下调制段中的每一个获得目标物的方向。 Thus, for the upward direction and the downward modulated modulated section obtained for each segment of the object. 下文中将分别把那些包括各峰值频率和针对向上调制段和向下调制段的目标物的方向的数据称为第一目标方向信息和第二目标方向信息。 Hereinafter the data are those including the target peak frequency and the modulated section and the up-down direction of the modulated section is referred to as a first target direction information and the second target direction information.

[0140] 在本实施例中,基于第一和第二数字数据的每一个的全部NXMsamp个采样数据获得了峰值频率。 [0140] In the present embodiment, based on the total NXMsamp sample data for each of the first and second digital data obtained peak frequency. 在N个信道上对这些NXMsamp个采样数据求平均值,然后,第一和第二数字数据中每一个的Msamp个采样数据被用来获得峰值频率。 N channels NXMsamp averaging these data samples, then the first and second digital data samples of each of the Msamp data are used to obtain the peak frequency.

[0141] 此外,允许基于通过对第一和第二数字数据的全部NXMsamp个采样数据进行子采样获得的下变变换数据来估计各峰值频率。 [0141] In addition, allowing for the sub-sampled based on the obtained data of all NXMsamp changed transformed data samples of the first and second digital data to estimate the respective peak frequencies.

[0142] 然后,过程前进到步骤S160。 [0142] Then, the process proceeds to step S160.

[0143] 在步骤S160,执行比较第一目标方向信息和第二目标方向信息的对匹配处理。 [0143] In step S160, the matching process executing a first comparison target direction information and the direction information of the second target. 执行对匹配处理的目的之一是提取多个目标物。 One object of the matching process performed on a plurality of object extraction. 作为对匹配处理的结果,提供包括来自第一目标方向信息的值和来自第二目标方向信息的相应值的对数据。 As a result of the matching process, including providing a first target value and the corresponding direction information from the direction information from the second target value of the data.

[0144] 通常,在分别对应于向上和向下调制段的第一和第二数字数据中都包括测量频率范围中的多个强度峰,每个强度峰与拍频相对应。 [0144] Generally, the first and second digital data respectively corresponding to the upward and downward modulated section comprises a plurality of intensity peaks in the frequency range of the measurement, each intensity peak corresponding to the beat frequency. 那些强度峰中的每一个可以被认为指示目标物的存在。 Each of those intensity peaks can be considered to indicate the presence of a target object. 然而,需要确立一对峰值频率,一个从第一数字数据提取,且另一个从第二数字数据提取,以计算目标物特征。 However, the need to establish one pair of the peak frequency, extracting a first digital data and second digital data extracted from the other, to calculate the target characteristic. 如果第一和第二数字数据中均包括M个强度峰,则可以有MXM对峰值频率。 If the intensity peaks each includes M, the peak frequency can MXM first and second digital data. 因此,对数据具有至多MXM对峰值频率。 Thus, having up MXM peak frequency data.

[0145] 在步骤S170,对数据被用于给定候选目标物之一的距离和候选目标物的相对速度。 [0145] In step S170, the data is used for distance and the relative speed of one of the candidate target candidate target was given.

[0146] 如果第一和第二数字数据均包括M个强度峰,则至多计算MXM个到候选目标物的距离和MXM个候选目标物的相对速度。 [0146] If the first and second digital data includes a number M intensity peaks, the relative velocity of up to MXM a candidate target object distance and MXM candidate target object is calculated. 可以认为在MXM个候选目标物中间,(MI) XM个候选目标物是真实世界不存在的假象。 MXM can be considered among the candidate object, (MI) XM candidate target is the real world there is no illusion. 假象将在下一个步骤S180被识别。 The illusion of a next step S180 is identified.

[0147] 允许将先前获得的方向信息存储在信号处理单元30的存储器中,并参考该信息来执行将第一目标方向信息中的一个峰值频率与第二目标方向信息中的相应峰值频率相关联以识别目标物中的一个的对匹配处理。 [0147] In the memory to allow the signal processing unit 30, and the reference direction information storage information previously obtained by performing the first target direction information of a peak frequency and the second target direction information associated with the respective peak frequencies in the matching processing on the recognition target object in one. 即,优选地,将当前第一目标方向信息和当前第二目标方向信息存储在信号处理单元30的存储器中,以在下次使用。 That is, preferably, the current first target direction information and the current second target direction information stored in the memory in the signal processing unit 30, to the next use. 代替当前第一目标方向信息和当前第二目标方向信息,可以存储与针对全部N个信道并针对向上调制段和向下调制段的各峰值频率相对应的全部数字数据Xi (t) (i = 1,. . .,N)。 Replace the current first target direction information and the current second target direction information may be stored with respect to all N channels and for each peak frequency modulated section upward and downward modulated section corresponding to all of the digital data Xi (t) (i = 1 ,..., N). 此外,允许将在步骤S120获得的差拍信号的功率谱存储在存储器中。 Further, to allow the power spectrum stored in the memory of the beat signal obtained at step S120.

[0148] 然后,在步骤S180,基于在步骤S170计算出的对数据确定目标物的距离和目标物的相对速度。 [0148] Then, at step S180, the step S170 is calculated based on the data to determine the relative velocity of the target object and the distance of the object.

[0149] 例如,就目标物动作的一致性来检查候选目标物的距离和候选目标物的相对速度的全部候选。 [0149] For example, in the operation of the consistency of the object to check all candidate distance and the relative speed of the target candidate is a candidate object. 即,如果可以追踪目标物的候选的一些一致物理轨迹,则该候选将被判断为真实目标物。 That is, if some of the same physical track can be tracked target object candidate, the candidate is determined as a true target. 在这种情况下,在FMCW雷达2已经执行了由图5中的步骤SllO〜S190定义的检测过程时,需要参考包括到目标物的距离和目标物的相对速度的目标物特征。 In this case, when the FMCW radar 2 has been performed by the step detection process defined in FIG. 5 SllO~S190, need to refer to a target object feature comprising relative speed and the distance of the target object target.

[0150] 此外,可以检查构成各对峰值频率中的其中一对的峰值频率的强度的平衡。 [0150] In addition, checking a balance in which the intensity of each of the pair of the peak frequency of peak frequencies. 峰值频率强度的大的不平衡说明两个峰值频率是由不同目标物产生的。 Large imbalance described peak frequency intensity peak frequencies are generated by two different target object.

[0151] 此外,允许就与在步骤S150获得的第一和第二方向数据的一致性来检查候选目标物的距离和候选目标物的相对速度的全部候选。 [0151] In addition, it allows the first and second direction consistent with the data obtained in step S150 to check all of the candidate distance and the relative speed of the target candidate is a candidate object.

[0152] 所确定的目标物距离和目标物相对速度可以被用于自动巡航操作、用于车辆导航操作、或用于控制安装在车辆中的安全系统。 [0152] the determined object distance and the relative speed of the target object can be used to automatically cruise control for a vehicle navigation operation, or for controlling a security system installed in a vehicle.

[0153] 此外,在步骤S180,所确定的目标物距离和目标物相对速度被存储在信号处理单元30的存储器中,以在下面的检测过程中参考。 [0153] Further, at step S180, the determined object distance and the relative speed of the target object in the memory of the signal processing unit 30, stored in the following with reference to the detection process.

[0154] 如果在步骤S130的确定是“是”,即,第一和第二噪声本底水平中的至少一个超过预定干扰阈值,则确定为存在其它雷达的干扰。 [0154] If the determination at step S130 is "YES", i.e., the first and second noise floor level exceeds at least one predetermined interference threshold, it is determined that there is interference from other radars. 然后,过程前进到步骤S190。 Then, the process proceeds to step S190.

[0155] 在步骤S190,针对FMCW雷达和其它雷达之间的干扰采取一些措施。 [0155] In step S190, to take some measures against the interference between the FMCW radar and some other radar.

[0156] 例如,如果不能进行目标物检测,则对装配有FMCW雷达2的车辆的驾驶员发出警告。 [0156] For example, if the object can not be detected, then the driver of the vehicle equipped with the FMCW radar warning 2. 将通过显示指示或声音警告针对FMCW雷达和其它雷达之间的干扰采取其它措施。 The indication by displaying a warning sound or take other measures against interference between the FMCW radar and some other radar.

[0157] 本实施例的一方面提供一种能够使用差拍信号的随时间振幅改变来可靠地检测雷达和其它雷达之间发生干扰,并准确地测量目标特征的雷达,目标特征例如:雷达系统的测量距离范围内的目标物的存在、雷达系统和目标物之间的距离、以及目标物相对于雷达系统的相对速度。 [0157] In one aspect of the present embodiment can be used over time to provide a beat signal amplitude changes to reliably detect interference between radar and other radar, and the radar target accurately measured characteristics, e.g. target characteristics: a radar system target object exists within the measurement distance range of the distance between the radar system and the object, and the relative speed of the target with respect to the radar system.

[0158] 参考图6〜图7D,将说明用于确定是否发生干扰的更具体操作。 [0158] Referring to FIG 6 ~ 7D, a will be explained more specifically for determining whether the operation of the interference. [0159]图6是示出用于基于接收信号或差拍信号的振幅曲线中极值点的周期性来检测FMCff雷达和其它雷达之间的干扰的发生的处理的流程图。 [0159] FIG 6 is a flowchart showing the processing for interference between a received signal based on the beat or the amplitude of the periodic signal curve to detect extreme points FMCff radar and other radar occurs. 这些操作在图5的步骤S130中执行。 These operations are performed at step S130 of FIG. 5.

[0160] 图7A是示出接收信号Sr或差拍信号B的随时间振幅改变以及接收信号Sr或差拍信号B的振幅以预定间隔被采样的采样点的说明图。 [0160] FIG. 7A is a diagram illustrating the reception signal Sr or the beat signal B with time and the change in amplitude of the reception signal Sr or the amplitude of the beat signal B at predetermined intervals of sampling points are sampled FIG. 在本实施例中,根据差拍信号计算振幅差数据。 In the present embodiment, the amplitude of the beat signal is calculated according to the difference data.

[0161] 在步骤S210,信号处理单元30计算在先前和当前采样时刻采样的数字数据之间的振幅差VD,以生成示出振幅差VD的随时间改变的振幅差曲线。 [0161] In step S210, the signal processing unit 30 calculates the amplitude difference VD between the previous and current sampling timing of digital data samples to generate the amplitude difference VD shows changes with time of the amplitude of the difference curve.

[0162] 图7B是示出接收信号或差拍信号的振幅变化的随时间改变的说明图。 [0162] FIG 7B is an explanatory diagram showing a received signal over time or a change in amplitude of the beat signal is changed. 如图7B中所示,差VD可以是正值或负值。 As shown in Figure 7B, a difference may be positive or negative VD. 如果差拍信号的振幅随时间过去而减小,则将计算出负值的差VD。 If the amplitude of the beat signal decreases over time, then a negative difference calculated VD. 与此相对,如果差拍信号的振幅随时间过去而增加,则将会算出正值的差VD。 On the other hand, if the beat amplitude of the signal increases over time, the value will be calculated by the difference between the VD. [0163] 然而,允许通过针对各信道对2XN个振幅差数据求平均值来只获得2个振幅差数据。 [0163] However, by allowing only get two amplitude difference data for each channel averaging the difference data amplitudes 2XN.

[0164] 此外,允许通过针对频率增加段和频率减小段并针对各信道对2XN个振幅差数据求平均值,或通过选择2XN个振幅差数据其中之一来只获得I个振幅差数据。 [0164] Further, by allowing the frequency increasing section and the frequency decreasing section and averaged for each data channel 2XN difference amplitudes, or amplitudes I obtained only by selecting one of the difference data amplitudes of which 2XN difference data.

[0165] 在随后的步骤S220,检测每一个振幅差数据中的极值点。 [0165] In a subsequent step S220, the extreme points of each detecting the amplitude difference data. 将其中一个极值点定义为振幅差数据的符号改变的时刻。 Wherein the timing of a sign change is defined as the extreme point amplitude difference data. 即,例如,如果在前一采样时间其为正值,当振幅差VD变负时,当前采样时间被识别为极值点。 That is, for example, if the previous sampling time, which is positive when the amplitude difference VD becomes negative, the current sampling time is identified as the extreme point.

[0166] 图7B是示出接收信号或差拍信号的振幅差VD的随时间改变的说明图。 [0166] FIG. 7B is a diagram illustrating a received signal or beat explanatory view showing an amplitude difference signal VD changes with time.

[0167] 图7C是示出接收信号或差拍信号的振幅差VD的符号被翻转的极值点的说明图。 [0167] FIG 7C is a diagram illustrating a received signal or beat code instructions amplitude difference signal VD is reversed extreme point.

[0168] 如图7B中所示,极值点位于差拍信号B的时间相关振幅曲线的最大值点或最小值点之一处。 [0168] As shown, in FIG. 7B located at the extreme points time-dependent amplitude profile of the beat signal B is minimum or maximum point at one point.

[0169] 注意,当在接收信号或差拍信号B的时间相关振幅曲线中检测极值点时,只参考振幅差数据的符号。 [0169] Note that, when the time in the received signal or the beat signal B when the correlation curve is detected amplitude extreme points, only reference symbol amplitude difference data. 换句话说,只使用确定振幅差在每个采样点是正值还是负值的结果。 In other words, only determination result of the amplitude at each sampling point the difference is positive or negative.

[0170] 然后,过程前进到步骤S230。 [0170] Then, the process proceeds to step S230.

[0171] 在步骤S230,首先,由图5中的步骤SI 10〜S190定义的循环操作开始并重复的预定检测间隔被分为子时段Tl、T2...,每一个具有单位时段I如图7B所示。 [0171] In step S230, the first cycle of operation starting from Step 10~S190 defined in Figure 5 and repeats the SI predetermined detection interval is divided into sub-periods Tl, T2 ..., each having a unit period I in FIG. FIG. 7B. 然后,对每个子时段内的极值点数目计数。 Then, counting the number of extreme points within each sub-period.

[0172] 优选的,单位时段T略长于扫描时间AT,在扫描时间AT期间,雷达波fs的频率线性增加或减小了频率调制宽度AF。 [0172] Preferably, the unit period T is slightly longer than the scan time the AT, the AT during the scan time, the frequency of the radar wave fs linearly increase or decrease the frequency modulation width AF. 这样设置单位时段T的结果是,如果存在没有发生干扰且在雷达的测量距离范围之外不存在例如卡车和货车的大或长的障碍或例如高速公路桥和其桥墩的大且长的建筑物的理想情况,则一个极值点或两个极值点可能落入各子时段之一中。 Results unit period T is arranged such that, if there is no interference has occurred and there is no outside the measurement distance range of the radar, for example, long or large trucks and vans or obstacles such as large highway bridge piers and other buildings and long ideal case, one extreme point or may fall into one of two extreme points of each sub-period.

[0173] 总之,在这个步骤S230,在时间上顺序地提取每个时段内入射无线电波的极值点的出现模式,以获得一系列极值点出现模式。 [0173] In summary, at this step S230, the extracted sequentially in time occurrence pattern in each extreme point of the period of incident radio waves, to obtain a series extreme points appear mode.

[0174] 图7D是示出每个子时段内的极值点数目的改变的说明图,每个子时段各具有单位时段T,且检查其中一个子时段内的极值点的数目。 [0174] FIG 7D is an explanatory diagram showing the purpose of changing the extremum points within each sub-period, each sub-units each having a time period T, and when the number of checks wherein the extreme point within a sub-periods.

[0175] 在随后的步骤S240,将每个子时段内的极值点的数目与参考数目相比较。 [0175] In a subsequent step S240, the number of extreme points is compared within each sub-period and a reference number. 即,确定每个子时段内的各极值点数目是否是可允许的。 That is, it is determined whether the number of extreme points within each respective sub-period are permissible. 如果相应子时段内的极值点数目小于参考数目,则该子时段内的极值点数目是可允许的数目。 If the number of extreme points within the respective sub-period is less than the reference number, the number of the extremal points within the sub-period is allowable. 与此相对,即,如果在其中一个子时段内的极值点数目大于或等于参考数目,则该子时段内的极值点数目是异常数目。 On the other hand, i.e., if the extreme point where the number of sub-periods within a number greater than or equal to the reference, the number of extreme points within the sub-period is a number of abnormal.

[0176] 优选的,将参考数目定义为超过干扰阈值数的值,如图7D中所示。 [0176] Preferably, the number of reference defined as the number of interference exceeds a threshold value, as shown in FIG. 7D. 可以定义干扰阈值数,使得将预定变化加到该子时段内的极值点的数目的平均值上。 You can define the interference threshold number, so that the variation applied to the predetermined number of extreme points within the sub-period average value.

[0177] 如果具有单位时段T的每个子时段平均起来未包含小的极值点数目,则第一参考数目和第二参考数目可以被分别设置为大于和小于极值点平均数目的数目。 [0177] If each sub-period having a period T of the average unit comprises a small number of non-extreme points, the first reference number and the second number, respectively, reference may be set to be greater than and less than the number average number of extreme points. 优选地,第一参考数目和平均数目之间的第一差等于第二参考数目和平均数目之间的第二差。 Preferably, the first difference between the first reference number and the second number is equal to the average difference between the second reference number and the number average. 在这种情况下,如果子时段之一内的极值点数目小于第一参考数目并大于第二参考数目,则该子时段内极值点的数目是允许的数目。 In this case the number, if the number of extreme points within one of the sub-period is less than a first reference number and the second number is greater than the reference, the inner sub-period the number of extrema is permitted. 如果大于等于第一参考数目或小于等于第二参考数目,则则该子时段内极值点的数目是异常的数目。 If the number is greater than the first number is equal to or less than a reference number equal to the second reference, then the sub-extreme point within a period number is abnormal.

[0178]总之,在这个步骤S240,检测系列极值点出现模式中极值点出现模式不规律的周 [0178] In summary, at this step S240, the circumferential extreme points appear irregular pattern detection mode extreme points appear series

期。 period.

[0179] 接下来,在步骤S250,确定在哪个子时段检测出极值点的异常数目。 [0179] Next, at step S250, the sub-period to determine which abnormality is detected in the number of extreme points. 可以将极值点数目不被允许的子时段称为干扰发生时段。 The number of extreme points of the sub-periods are not allowed to interfere with period may be referred to occur. 如果存在至少一个干扰发生时段,其中接收信号Sr的时间相关振幅曲线中的极值点数目超过干扰阈值数目并且差拍信号B相对平均数目的距离相比预定变化数目更远,则过程前进到步骤S260。 If there is at least one period of interference occurs, wherein the number of extrema signal Sr received time-dependent amplitude profile exceeds the threshold value and the number of the interference object from the beat signal B is compared to the average of the relative change in the predetermined number of further, the process proceeds to Step S260.

[0180] 与此相对,如果不存在极值点数目超过干扰阈值数目的子时段,则过程前进到步骤S270。 [0180] On the other hand, if the sub-period the number of extrema exceeds the interference threshold number does not exist, the process proceeds to step S270.

[0181] 在图7D中,由于具有单位时段T的每个子时段平均只包含小的极值点数目,第一参考数目能够被用作干扰阈值数目。 [0181] In FIG. 7D, since each sub-period average unit period T contains only a small number of extreme points, the first reference number can be used as the interference threshold number. 因而,在子时段T4和T5内,检测出超过干扰阈值数目的极值点数目。 Accordingly, in the sub-periods T4 and T5, the number of extreme points detected interference exceeds a threshold number. 因此,确定在子时段T4和T5内发生了FMCW雷达2和其它雷达之间的干扰。 Thus, determining an interference between the FMCW radar 2 and the other radar occurs within the sub-period T4 and T5.

[0182] 在步骤S260,做出发生FMCW雷达2和其它雷达之间的干扰的结论。 [0182] In step S260, the interference between concluded FMCW radar 2 and the other radar occurs.

[0183] 在步骤S270,做出没有发生FMCW雷达2和其它雷达之间的干扰的结论。 [0183] In step S270, the interference between the FMCW radar made of other radar 2 and the conclusion has not occurred.

[0184](本实施例的优点) [0184] (Advantages of this embodiment)

[0185] 如上所述,根据本实施例的用于检测FMCW雷达2和其它雷达之间发生干扰的方法包括步骤:计算接收信号或差拍信号的振幅差VD的随时间改变,识别接收信号或差拍信号的时间相关振幅曲线中的极值点,对每个子时段内的极值点数目计数,判断每个子时段内的每个极值点数目是否正常,并基于判断每个子时段内的每个极值点数目是否正常的结果来确定在FMCW雷达2和其它雷达之间发生干扰的子时段。 [0185] As described above, according to the method of interference between the radar 2 and the other for detecting the FMCW radar of the present embodiment comprises the steps of: calculating a received signal amplitude difference or beat signal VD changes with time, or to identify the received signal time difference beat signal related to the amplitude curve extreme points, the number of extrema points counted within each sub-period, the number of each of the extreme point is determined within each sub-period is normal, based on each determined within each sub-period a number of extreme points of the results to determine whether the normal sub-period interference occurs between 2 and other radar FMCW radar.

[0186] S卩,在根据本实施例的方法中,只利用差拍信号B的时间相关振幅曲线中的极值点数目来确定是否发生FMCW雷达2和其它雷达之间的干扰。 [0186] S Jie, in the method according to the present embodiment, only to determine whether interference between the FMCW radar 2 and a number of other radar occur using time-dependent amplitude profile extrema beat signal B in. 本方法利用这样的事实:通常,从其它雷达发射的且被叠加在雷达波的回波上的噪声信号只具有比雷达波的谐波分量高的谐波分量,或只具有非周期分量。 This method utilizes the fact that: In general, emitted from other radar and superimposed on the radar echo signal is only a noise having a high harmonic component Bileidabo harmonic components, or only a non-periodic component. 因此,即使噪声信号的水平低,也可以检测干扰的发生。 Thus, even with a low level of noise signal, it can be detected interference. 这意味着执行根据本实施例的方法只需要小量的运算量。 This means that the implementation of the method according to the present embodiment requires only a small amount of computation.

[0187] 图8是示出当接收信号或差拍信号遭遇了从其它雷达发射的强干扰无线电波时,接收信号或差拍信号的随时间振幅改变的说明图。 [0187] FIG. 8 is a diagram illustrating the time when the received signal or beat signal suffered a strong interference of radio waves emitted from the other radar, explaining changes with time of the amplitude of the received signal or beat signal.

[0188] 在这种情况下,因为干扰的影响导致了接收信号Sr或差拍信号B中的放大强度变化,所以可以容易地识别出干扰对接收信号Sr或差拍信号B的影响。 [0188] In this case, because the influence of interference results in a received signal Sr amplified or intensity change in the beat signal B, it is possible to easily recognize the interference on the received signal Sr or the beat signal B.

[0189] 图9是示出当接收信号或差拍信号遭遇了从其它雷达发射的弱干扰无线电波时,接收信号或差拍信号的随时间振幅改变的说明图。 [0189] FIG. 9 is a diagram illustrating when the received signal or beat signal interference suffered a weak radio wave transmitted from the other radar, explaining changes with time of the amplitude of the received signal or beat signal.

[0190] 在这种情况下,因为干扰的影响不导致接收信号Sr或差拍信号B中的放大强度变化,所以当只观察到接收信号Sr或差拍信号B中的振幅改变时,不能容易地识别出干扰对接收信号Sr或差拍信号B的影响。 [0190] In this case, because the influence of interference received signal Sr does not lead to a change or amplify the intensity of the beat signal B, was observed only when the reception signal Sr or the amplitude of the beat signal B is changed, it can not be easily identify the effect of interference on the received signal Sr or the beat signal B.

[0191] 然而,在这两种情况下,都可以观察到接收信号Sr或差拍信号B的时间相关振幅曲线中的极值点。 [0191] However, in both cases, it can be observed received signal Sr extrema beat signal B or the time correlation amplitude curve. 因此,即使从其它雷达发射的干扰无线电波的水平低,也可以检测干扰的发生。 Thus, even with a low level of interference radio waves emitted from the other radar, it may detect the occurrence of interference.

[0192] 因此,即使在FMCW雷达2的测量距离范围之外存在例如卡车和货车的一些大或长的目标障碍或例如高速公路桥和其桥墩的大且长的建筑物,且即使在FMCW雷达2的测量距离范围内存在多个目标物,雷达2也能可靠地检测雷达和其它雷达之间干扰的发生。 [0192] Thus, even beyond the measuring distance range of the FMCW radar 2 such as the presence of some large or long target obstacles such as trucks and vans or large highway bridge and its piers and long buildings, and even in the FMCW radar measuring distance range 2 in a plurality of memory object, the radar 2 can be reliably detect interference between radar and other radar occurs.

[0193] 此外,如上所述,当根据由等式(5)定义的自相关矩阵R(t)获得位于FMCW雷达2的测量距离范围内的目标物的方向时,因为可以通过忽略干扰发生的时段内的数字信号数据Xi (t)和Xi (t-1)中的一些来去除干扰对数字信号数据Xi (t)和Xi (t-1) (i = 1,. . .,N)的影响,所以可以准确地确定目标物的方向,其中,自相关矩阵R(t)包括在图5中的当前循环操作获得的数字信号数据Xi (t) (i = 1,...,N),以及在前一循环操作获得的数字信号数据Xi (t-1) (i = I, • • • , N)。 [0193] As described above, according to when the autocorrelation matrix R defined by equation (5) (t) is obtained when the direction of the target object located within a FMCW measurement distance range of the radar 2, since the interference occurs by ignoring Some digital data signals Xi within a period (T) and to remove the interference of Xi (t-1) of digital data signals Xi (T) and Xi (t-1) (i = 1 ,..., N) of Effect, it is possible to accurately determine the direction of a target object, wherein the autocorrelation matrix R (t) signal comprises a digital data Xi in the current cycle of operation of FIG. 5 obtained in (t) (i = 1, ..., N) , Xi and a first digital signal data obtained in the operation cycle (t-1) (i = I, • • •, N).

[0194](第一实施例的变型) [0194] (modification of the first embodiment)

[0195] 在根据第一实施例的方法中,如果极值点的数目超过干扰阈值数目,则确定在每一个子时段内的极值点的数目异常,如图7D所示。 [0195] In the method according to the first embodiment, if the number of extrema exceeds the interference threshold number, it is determined that the number of extreme points within each sub-period abnormality, shown in Figure 7D. 通过把预定变化加到一个子时段内的极值点数目的平均值上,定义干扰阈值数目。 By adding a predetermined variation on one sub-object is added to the average value of the extremum points within a period, defined interference threshold number. 然而,可以根据发射信号Ss定义干扰阈值数目。 However, according to the interference threshold number may be defined transmission signal Ss. 更具体地说,发射信号Ss的时间相关振幅曲线定义每个子时段内的极值点的理想数目,其中,极值点的理想数目被定义为在不存在其它雷达且在FMCW雷达2的测量距离范围之外不存在障碍的情况下获得的数目。 More specifically, the ideal number of extreme points within the defined time-dependent amplitude profile of the transmit signal Ss each sub-period, wherein the ideal number is defined as the extreme point in the absence of other radar and measuring the distance of the FMCW radar 2 the number obtained in the absence of obstacles out of the range. 所以,可以将极值点的理想数目识别为一个子时段内的极值点数目的平均值。 Therefore, the identification number may be over the extreme point extremum points of the object within a sub-period average.

[0196](第二实施例) [0196] (Second Embodiment)

[0197] 参考图10〜图11,说明本发明的第二实施例。 [0197] Referring to FIG 10~ 11, a second embodiment of the present invention.

[0198] 图10是示出根据本发明第二实施例的用于检测目标物特征的处理的流程图,目标物特征例如雷达的雷达范围内的目标物的存在、目标物和雷达之间的距离以及目标物相对于FMCW雷达的相对速度,该处理包括基于接收信号或差拍信号的振幅曲线中极值点的周期性来检测FMCW雷达和其它雷达之间干扰的发生的步骤,以及从接收信号中去除干扰影响的步骤。 [0198] FIG. 10 is a flowchart illustrating between, wherein the object processing according to a second embodiment of the present invention for detecting target characteristics, for example, the presence of the object within the radar range of the radar, and the radar target distance and relative speed of the target FMCW radar, the process comprising the step of periodically occurring based on the received signal or the beat signal amplitude profile to detect extreme points of interference between the FMCW radar and other radar, and from the reception the step of removing signal interference.

[0199] 只有步骤S330和S340是与图5中示出的步骤不同的步骤。 [0199] Only steps S330 and S340 are the steps shown in FIG. 5 different steps. 因此,只说明在步骤S330和S340执行的操作。 Therefore, only the instructions in step S330 and S340 performed.

[0200] 在步骤S330,在根据本实施例的用于检测FMCW雷达2和其它雷达之间的干扰的发生的处理中,为了沿极值点形成平滑连续插值曲线,用通过对具有等于或两倍于极值点周期性的周期的谐波曲线采样而获得的校正采样数据,来替换差拍信号B在干扰发生的子时段内的数字数据Db,从而校正差拍信号B的数字数据Db。 [0200] In step S330, the processing in accordance with interference occurring between 2 and other radar FMCW radar for detecting the embodiment according to the present embodiment, in order to form a smooth, continuous extreme points along the curve interpolation, by using equal or two times the sampling period in the harmonic curve extreme points is corrected periodically sampled data obtained, to replace the interference beat signal B digital data Db in the sub period occurs, thereby correcting the digital data Db of the beat signal B.

[0201] 以这种方式,可以获得差拍信号B的校正数字数据Db。 [0201] In this manner, it is possible to obtain the beat signal B corrected digital data Db. 如果将该校正操作应用到第一和第二数字数据,则分别获得对应于频率增加段中和频率减小段中的数据的校正的第、一数字数据和校正的第二数字数据。 If the correcting operation applied to the first and second digital data, respectively corresponding to the increase in the frequency correction data and the frequency decreasing section in the first paragraph, a correction of digital data and second digital data. 在步骤S340执行这些操作。 These operations are performed at step S340.

[0202] 在接收信号Sr被用来检测干扰的情况下,极值点的周期应该像调制雷达波的频率一样被调制。 [0202] In the case where the reception signal Sr is used to detect interference image cycle extreme point should be as frequency modulated radar wave is modulated. 即,在与雷达波的频率增加段相对应的时间段中,应该减小接收信号Sr的振幅曲线中极值点的周期。 That is, an increase in the period corresponding to the frequency of the radar period, period should be reduced amplitude profile of the reception signal Sr extreme points. 与此相对,在与雷达波的频率减小段相对应的时间段中,应该增加接收信号Sr的振幅曲线中极值点的周期。 On the other hand, in the reduced sections corresponding to the frequency of the radar period, period should be increased amplitude profile of the reception signal Sr extreme points. 在估计沿极值点的平滑连续插值曲线时应该考虑这些事实。 When smooth estimate extreme point along a continuous curve interpolation should consider these facts.

[0203] 图11是示出在去除了干扰影响之后接收信号或差拍信号随时间校正振幅改变的说明图。 [0203] FIG. 11 is a diagram showing the amplitude of the correction signal to change over time illustrates the receiving signal after the addition or beat interference.

[0204] 在步骤S440,信号处理单元30分别对差拍信号的与频率增加段中和频率减少段中的数据相对应的第一和第二数字数据执行频率分析,例如快速傅立叶变换(FFT)分析。 [0204] data in step S440, the signal processing unit 30, respectively, to reduce the beat signal and increase the frequency of the frequency band segments corresponding to the first and second digital data, performs frequency analysis, such as Fast Fourier Transform (FFT) analysis.

[0205] 根据本发明,可以获得与前一实施例相同的优点。 [0205] According to the present invention can be obtained the same advantages as the previous embodiment.

[0206] 此外,提供一种连续波雷达,例如FMCW雷达,其中因为用基于具有等于或两倍于极值点周期的周期的谐波曲线而获得的校正数据来替换接收信号或差拍信号在干扰发生的子时段内的振幅数据,所以即使发生雷达和其它雷达之间的干扰,所述连续波雷达也可以准确检测目标物特征,目标物特征包括雷达的测量范围内的目标物的存在、目标物和雷达之间的距离以及目标物相对于雷达的相对速度。 [0206] Further, there is provided a continuous wave radar, FMCW radar for example, where as the correction data based on a curve having a harmonic or equal to twice the extreme points of a period obtained by replacing a received signal or beat signal amplitude data within the sub-period interference occurs, even if interference between radar and other radar occurs, the continuous wave radar target object can be accurately detected characteristics, wherein the object comprises a target object is present within the measuring range of the radar, the distance between the target and the radar and the relative velocity of the target with respect to the radar.

Claims (6)

1. 一种用于检测由雷达发射且被目标物反射的频率被调制为随时间线性改变的雷达波和由其它雷达发射的无线电波之间的干扰的发生的方法,所述方法包括步骤: 检测通过混合由所述目标物反射的所述雷达波和所述由其它雷达发射的无线电波而生成的差拍信号的极值点,每一个极值点是出现所述差拍信号的振幅的最大值或最小值的时刻; 在时间上顺序地提取每个时段内所述差拍信号的极值点的出现模式,以获得一系列极值点出现模式; 在该系列极值点出现模式中检测是否有极值点出现模式不规律的周期;和在所检测的周期具有极值点的不规律出现模式的情况下,确定干扰发生,其特征在于在预定计数周期用所述差拍信号的极值点的数目来量化出现模式,以确定所述差拍信号的极值点的一系列计数数目,并且、 检测是否有极值点出现模式不规律的 1. A method for detecting a frequency transmitted by the radar and the target object is reflected by the interference between the modulation is changed linearly with time in radar and radio waves transmitted by other radar occurs, said method comprising the steps of: detecting a radio wave generated by mixing reflected by the target and the radar wave transmitted by the other radar difference extrema beat signal, each extreme point of the amplitude of the beat signal appearing maximum or minimum time; extraction sequentially in time within each period of the occurrence pattern extrema beat signal to obtain a series of extreme point occurrence pattern; extreme point appears in the series mode detecting whether there are periodic extreme points appear irregular pattern; in the case of irregular and has an extreme point of the period occurs in the detected pattern, determining interference occurs, characterized in that the predetermined count cycle of the beat signal by the number of extreme points appear to quantization patterns to determine the difference between a series of counting the number of extrema beat signal, and detecting whether there is an irregular pattern appears extreme points 周期的步骤包括: 对所述差拍信号的极值点的计数数目求平均值,以确定每计数周期极值点的平均数目;和检测是否有极值点的平均数目与计数周期之一内所述差拍信号的极值点的计数数目之一之间的差超过预定阈值的周期。 Period comprises the step of: the number of extrema beat signal count averaged to determine the mean number of counts per cycle of extreme points; and detects whether one of the extreme points and the average number of counting cycles the difference exceeds a predetermined threshold difference period between one counts the number of extrema beat signal.
2.根据权利要求I所述的方法,其中,所述差拍信号由第一差拍信号和第二差拍信号组成,所述第一差拍信号是通过混合由所述雷达接收到的入射无线电波与从所述雷达发射的频率随时间增加的向上调制段的无线电波而生成的,而所述第二差拍信号是通过混合所述入射无线电波与从所述雷达发射的频率随时间减小的向下调制段的无线电波而生成的, 所述雷达是发射频率随时间改变的频率调制雷达波的频率调制连续波雷达,并且所述雷达波具有所述向上调制段和所述向下调制段,并且所述第一和第二差拍信号中的至少一个被用来计算差拍信号的频率分量的强度直方图。 2. The method of claim I, wherein the beat signal by the first signal and the second beat signal composed of beat, the beat signal is first received by the radar by mixing the incident radio frequency waves emitted from the radar radio waves increases with time up to generate the modulated section, and said second beat signal by mixing with the frequency of the incident radio waves emitted from the radar with time reducing the downward radio wave generated modulated section, the radar transmit frequency changes over time of the frequency modulation frequency modulated continuous wave radar, and the radar wave having a modulated section and the upwardly to the down-modulation section, and the first and second beat signals are used to calculate at least one beat frequency component of the signal strength histogram.
3. 一种频率调制连续波雷达,其检测包括所述雷达的测量范围内的目标物的存在、所述目标物和所述雷达之间的距离、以及所述目标物相对于所述雷达的相对速度中的至少一个的目标物特征,所述雷达包括: 发射信号生成器,其生成发射信号,所述发射信号的频率被调制为具有所述发射信号的频率随时间增加的向上调制段和所述发射信号的频率随时间减小的向下调制段; 发射天线,其沿所述测量范围的方向发射作为雷达波的所述发射信号,所述测量范围被限制为其最远距离对应于最大测量频率; 接收天线单元,其接收由位于所述雷达的测量范围内的所述目标物反射的雷达波; 差拍信号生成器,其基于所述发射信号和接收雷达波二者,分别生成由针对所述向上调制段和所述向下调制段中的每一个的第一差拍信号和第二差拍信号组成的差拍信号,在 A frequency modulated continuous wave radar, the distance between the target object exists within the measurement range comprises detecting the radar, and the radar and the target object, and the object relative to the radar wherein the relative speed of the target object in at least one of said radar comprising: a transmission signal generator which generates a transmit signal, the frequency signal is modulated to a signal having the transmit frequency increases with time and transmitting said modulated section upwardly down-frequency modulated signal decreases over time the transmit; transmitting antenna, which direction of the measurement range of the transmit signal as a transmitting radar waves, the measurement range is limited to its maximum distance corresponding to maximum measurement frequency; receiving antenna unit that receives the radar waves by the object located within the measuring range of the radar reflection; beat signal generator, based on both the transmit and receive radar signals, respectively, to generate for a beat signal in the up section and the down modulation section modulating a first difference for each beat signal and a second beat signal component, in 所述接收雷达波中,由所述其它雷达发射的无线电波被叠加在所述反射的雷达波上; 极值点检测器,其检测所述差拍信号的入射无线电波的极值点,每一个极值点是出现所述差拍信号的振幅的最大值或最小值的时刻; 提取单元,其提取每个时段内所述差拍信号的极值点的出现模式,以获得一系列极值点出现模式;检测器,其在该系列极值点出现模式中检测极值点出现模式不规律的周期;和干扰确定单元,其确定是否在所检测的时间周期内发生干扰; 频率分析器,其对所述第一和第二差拍信号进行频率分析,以分别获得针对所述向上调制段和所述向下调制段示出差拍信号在频域中的强度分布的第一和第二频谱特征;峰值频率检测器,其在第一和第二峰值频率位于所述最大测量频率以下的情况下,分别检测在所述第一和第二频谱特征中具有相应最高 Receiving the radar, the radio wave transmitted by the other radar is superimposed on the reflected radar; extreme point detector which detects the incident radio wave of the beat signal extremum points, each one extreme point in time is the maximum or minimum amplitude of the beat signal occurs; extracting unit that extracts the occurrence pattern extrema beat signal within each period to obtain a series extremum dot pattern appears; detector, the detection mode period extreme points appear irregular pattern which appears in the extreme point of the series; and an interference determination unit that determines whether interference occurs in a time period detected; frequency analyzer, that performs frequency analysis of the first and second beat signals, respectively, to obtain for the upward and downward modulated section shows the differential modulation segment of the beat signal in the first and second spectral intensity distribution of the frequency domain wherein; peak frequency detector, which is positioned at the below the maximum measurement frequency, the first and second peak detector having respective frequencies are highest in the first and second spectral features 度的所述第一和第二峰值频率;以及目标物特征计算器,其基于所述第一和第二峰值频率计算所述目标物特征,其中,在预定计数周期用所述第一差拍信号和所述第二差拍信号的极值点的数目来量化出现模式,以确定所述第一差拍信号和所述第二差拍信号的极值点的一系列计数数目,并且用于检测是否有极值点出现模式不规律的周期的干扰确定单元包括: 平均值计算器,其对所述第一差拍信号和所述第二差拍信号的极值点的计数数目求平均值,以确定每计数周期极值点的平均数目;和周期检测器,其检测极值点的平均数目与计数周期之一内所述第一差拍信号和所述第二差拍信号的极值点的计数数目之一之间的差超过预定阈值的周期。 Of the first and second peak frequencies; and a target object characteristic calculator, which calculates based on the first and second peak frequency characteristic of the target object, wherein the first beat is used in a predetermined counting period signal and said second number of extrema beat signal to quantization mode occurs, the number of counts to determine the number of extreme points of the first beat signal and the second beat signal, and for detecting whether there is the interference extremum points appear irregular cycle mode determining unit comprises: counting the number average calculator, which beat signal and the first difference between the extreme point of the second beat signal averaging difference to determine the average number of counts per cycle of extreme point; and a period detector, which detects the one of the average number of extreme points of the count period of the first beat signal and the second beat signal extremum period difference value exceeds a predetermined threshold number of counts between one point.
4.根据权利要求3所述的频率调制连续波雷达,其中, 所述极值点检测器包括: 采样单元,其在采样时间按时间顺序对所述第一和第二差拍信号中的每个的振幅进行采样,并且分别检测所述第一和第二差拍信号中的每个的振幅的改变; 差计算器,其计算所述第一和第二差拍信号中的每个的振幅的改变,以分别生成所述第一和第二差拍信号的振幅的差随时间的改变;以及检测器,其检测所述第一和第二差拍信号的振幅的差的符号相对前一采样时间的振幅的差的符号发生翻转的采样时间之一,以作为极值点之一。 4. The frequency modulated continuous wave radar according to claim 3, wherein the extreme point detector comprising: a sampling unit, which chronologically each pair of said first and second beat signals in the sampling time a sampled amplitude, and respectively detecting the first and second beat signals change amplitude of each; difference calculator, which first and second beat signals of each of said amplitude calculation changes, to generate the first and second difference difference changes over time in the amplitude of beat signal; and a detector, which detects the sign of the difference of the first and second beat signal amplitude relative to the previous inverting one symbol sampling time difference between the amplitudes of the sampling time occurs, as one extreme point.
5.根据权利要求3-4之一所述的雷达,其中, 极值点检测器,其检测第一和第二差拍信号的至少之一的极值点,每一个极值点是出现第一和第二差拍信号的至少之一的振幅的最大值或最小值的时刻; 提取单元,其在时间上顺序地提取每个时段内第一和第二差拍信号的至少之一的极值点的出现模式。 The radar according to any one of claims 3-4, wherein the extreme point detector which detects the difference between first and second extreme point of at least one beat signal, each extreme point of emergence and a second time difference between the amplitude of at least one beat signal of maximum or minimum; extracting unit that sequentially extracts the first electrode and the second beat signal of each of at least one period in time appearance mode value points.
6.根据权利要求3-4之一所述的雷达,其中, 所述雷达是车载雷达。 6. A radar according to one of claims 3-4, wherein said radar is a board radar.
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